Wide dynamic range using a monochrome image sensor for fluorescence imaging

ABSTRACT

Systems, methods, and devices for fluorescence imaging with increased dynamic range are disclosed. A system includes an emitter for emitting pulses of electromagnetic radiation and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation, wherein the pixel array comprises a plurality of pixels each configurable as a short exposure pixel or a long exposure pixel. The system includes a controller comprising a processor in electrical communication with the image sensor and the emitter. The system is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises electromagnetic radiation having a wavelength from about 770 nm to about 790 nm.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication No. 62/864,207, filed Jun. 20, 2019, titled “WIDE DYNAMICRANGE USING A MONOCHROME IMAGE SENSOR FOR HYPERSPECTRAL AND FLUORESCENCEIMAGING,” which is incorporated herein by reference in its entirety,including but not limited to those portions that specifically appearhereinafter, the incorporation by reference being made with thefollowing exception: In the event that any portion of theabove-referenced provisional application is inconsistent with thisapplication, this application supersedes the above-referencedprovisional application.

TECHNICAL FIELD

This application is directed to digital imaging and is particularlydirected to fluorescence imaging in a light deficient environment.

BACKGROUND

Advances in technology have provided advances in imaging capabilitiesfor medical use. An endoscope may be used to look inside a body andexamine the interior of an organ or cavity of the body. Endoscopes areused for investigating a patient's symptoms, confirming a diagnosis, orproviding medical treatment. A medical endoscope may be used for viewinga variety of body systems and parts such as the gastrointestinal tract,the respiratory tract, the urinary tract, the abdominal cavity, and soforth. Endoscopes may further be used for surgical procedures such asplastic surgery procedures, procedures performed on joints or bones,procedures performed on the neurological system, procedures performedwithin the abdominal cavity, and so forth.

In some instances of endoscopic imaging, it may be beneficial ornecessary to view a space in color. A digital color image includes atleast three layers, or “color channels,” that cumulatively form an imagewith a range of hues. Each of the color channels measures the intensityand chrominance of light for a spectral band. Commonly, a digital colorimage includes a color channel for red, green, and blue spectral bandsof light (this may be referred to as a Red Green Blue or RGB image).Each of the red, green, and blue color channels include brightnessinformation for the red, green, or blue spectral band of light. Thebrightness information for the separate red, green, and blue layers arecombined to create the color image. Because a color image is made up ofseparate layers, a conventional digital camera image sensor includes acolor filter array that permits red, green, and blue visible lightwavelengths to hit selected pixel sensors. Each individual pixel sensorelement is made sensitive to red, green, or blue wavelengths and willonly return image data for that wavelength. The image data from thetotal array of pixel sensors is combined to generate the RGB image. Theat least three distinct types of pixel sensors consume significantphysical space such that the complete pixel array cannot fit in thesmall distal end of an endoscope.

Because a traditional image sensor cannot fit in the distal end of anendoscope, the image sensor is traditionally located in a handpiece unitof an endoscope that is held by an endoscope operator and is not placedwithin the body cavity. In such an endoscope, light is transmitted alongthe length of the endoscope from the handpiece unit to the distal end ofthe endoscope. This configuration has significant limitations.Endoscopes with this configuration are delicate and can be easilymisaligned or damaged when bumped or impacted during regular use. Thiscan significantly degrade the quality of the images and necessitate thatthe endoscope be frequently repaired or replaced.

The traditional endoscope with the image sensor placed in the handpieceunit is further limited to capturing only color images. However, in someimplementations, it may be desirable to capture images with fluorescenceimage data in addition to color image data. Fluorescence is the emissionof light by a substance that has absorbed light or other electromagneticradiation. Certain fluorescent materials “glow” or emit a distinct colorthat is visible to the human eye when the fluorescent material issubjected to ultraviolet light or other wavelengths of electromagneticradiation. Certain fluorescent materials will cease to glow nearlyimmediately when the radiation source stops.

Fluorescence occurs when an orbital electron of a molecule, atom, ornanostructure is excited by light or other electromagnetic radiation,and then relaxes to its ground state by emitting a photon from theexcited state. The specific frequencies of electromagnetic radiationthat excite the orbital electron, or are emitted by the photon duringrelaxation, are dependent on the atom, molecule, or nanostructure.Fluorescence imaging has numerous practical applications, includingmineralogy, gemology, medicine, spectroscopy for chemical sensors,detecting biological processes or signals, and others. Fluorescence canbe used in biochemistry and medicine as a non-destructive means fortracking or analyzing biological molecules. Some fluorescent reagents ordyes can be configured to attach to certain types of tissue and therebydraw attention to that type of tissue.

However, fluorescence imaging requires specialized emissions ofelectromagnetic radiation and specialized imaging sensors capable ofreading the specific relaxation wavelength for a specific fluorescentreagent. Different reagents or dyes are sensitive to differentwavelengths of electromagnetic radiation and emit different wavelengthsof electromagnetic radiation when fluoresced. A fluorescent imagingsystem may be highly specialized and tuned for a certain reagent or dye.Such imaging systems are useful for limited applications and are notcapable of fluorescing more than one reagent or structure during asingle imaging session. It is very costly to use multiple distinctimaging systems that are each configured for fluorescing a differentreagent. Additionally, it may be desirable to administer multiplefluorescent reagents in a single imaging session and view the multiplereagents in a single overlaid image.

In light of the foregoing, described herein are systems, methods, anddevices for fluorescent imaging in a light deficient environment. Suchsystems, methods, and devices may provide multiple datasets foridentifying critical structures in a body and providing precise andvaluable information about the body cavity.

BRIEF DESCRIPTION OF THE DRAWINGS

Non-limiting and non-exhaustive implementations of the disclosure aredescribed with reference to the following figures, wherein likereference numerals refer to like parts throughout the various viewsunless otherwise specified. Advantages of the disclosure will becomebetter understood with regard to the following description andaccompanying drawings where:

FIG. 1 is a schematic view of a system for digital imaging in a lightdeficient environment with a paired emitter and pixel array;

FIG. 2 is a system for providing illumination to a light deficientenvironment for endoscopic imaging;

FIG. 2A is a schematic diagram of complementary system hardware;

FIGS. 3A to 3D are illustrations of the operational cycles of a sensorused to construct an exposure frame;

FIG. 4A is a graphical representation of the operation of an embodimentof an electromagnetic emitter;

FIG. 4B is a graphical representation of varying the duration andmagnitude of the emitted electromagnetic pulse to provide exposurecontrol;

FIG. 5 is a graphical representation of an embodiment of the disclosurecombining the operational cycles of a sensor, the electromagneticemitter, and the emitted electromagnetic pulses of FIGS. 3A-4A, whichdemonstrate the imaging system during operation;

FIG. 6A is a schematic diagram of a process for recording a video withfull spectrum light over a period of time from t(0) to t(1);

FIG. 6B is a schematic diagram of a process for recording a video bypulsing portioned spectrum light over a period of time from t(0) tot(1);

FIGS. 7A-7E illustrate schematic views of processes over an interval oftime for recording a frame of video for both full spectrum light andpartitioned spectrum light;

FIG. 8 is a graphical representation of a pixel array comprising aplurality of pixels in different orientations for capturing independentexposure frames over time for generating an RGB image frame;

FIG. 9 is a graphical representation of a pixel array comprising aplurality of pixels in different orientations for capturing independentexposure frames over time for generating a YCbCr image frame;

FIG. 10 is a graphical representation of a pixel array comprising aplurality of pixels in different orientations for capturing independentexposure frames over time for generating an RGB image frame;

FIG. 11 is a graphical representation of a pixel array comprising aplurality of pixels in different orientations for capturing independentexposure frames over time for generating a YCbCr image frame;

FIG. 12 is a circuit diagram for a pixel array that employs conventionalunshared pixels;

FIG. 13 is a unit cell for a pixel array that employs conventionaltwo-way vertical sharing;

FIG. 14 is a circuit diagram for a pixel array in which pixels arepaired horizontally rather than vertically;

FIG. 15 is a graphical representation of a single column circuit for apixel array that may be used for vertical two-way sharing of pixels;

FIG. 16A is a timing diagram for a pixel array in which all pixels areheld in reset mode when GlobalTX1, GlobalTX2, and GlobalRST are high;

FIG. 16B is a timing diagram for a pixel array in a dual illuminationenvironment;

FIG. 17 is an internal timing diagram of a minimal area custom imagesensor that may be implemented for endoscopic imaging in the presence ofcontrolled, pulsed illumination;

FIG. 18 is a timing diagram for a frame sequence of an image sensor thatmay be applied for the exposure frame sequence illustrated in FIG. 9 forgenerating a YCbCr image frame;

FIG. 19 is a line graph illustrating an example system that incorporatesanalog gain, digital gain, and shutter time into determiningautoexposure for adjusting to an illumination scenario;

FIG. 20 is a schematic diagram illustrating how statistics for widedynamic range may be gathered independently for short exposure pixelsand for long exposure pixels;

FIG. 21 is a schematic diagram of a process flow to be implemented by acontroller or image signal processor for generating a video stream withRGB image frames and fluorescence data overlaid on the RGB image frame;

FIG. 22 is a line graph illustrating the illuminance-signalrelationships for an exposure ration of four that yields greater dynamicrange;

FIG. 23 is a line graph illustrating the dependence of fusion weightingon long exposure signal for an image sensor;

FIG. 24 is a line graph illustrating the transfer function for datacompression for a piece-wise linear transfer function;

FIG. 25 is a line graph illustrating the simple stitching approach inwhich sections are mapped to long exposure samples and short exposuresamples and crossover occurs at the maximum of x_(L);

FIG. 26 is a schematic diagram of a pattern reconstruction process forgenerating an RGB image frame with fluorescence image data overlaidthereon;

FIGS. 27A-27C illustrate a light source having a plurality of emitters;

FIG. 28 illustrates a single optical fiber outputting via a diffuser atan output to illuminate a scene in a light deficient environment;

FIG. 29 illustrates a portion of the electromagnetic spectrum dividedinto a plurality of different sub-spectrums which may be emitted byemitters of a light source in accordance with the principles andteachings of the disclosure;

FIG. 30 is a schematic diagram illustrating a timing sequence foremission and readout for generating an image frame comprising aplurality of exposure frames resulting from differing partitions ofpulsed light;

FIG. 31 illustrates an imaging system including a single cut filter forfiltering wavelengths of electromagnetic radiation;

FIG. 32 illustrates an imaging system comprising a multiple cut filterfor filtering wavelengths of electromagnetic radiation;

FIGS. 33A and 33B illustrate an implementation having a plurality ofpixel arrays for producing a three-dimensional image in accordance withthe principles and teachings of the disclosure;

FIGS. 34A and 34B illustrate a perspective view and a side view,respectively, of an implementation of an imaging sensor built on aplurality of substrates, wherein a plurality of pixel columns formingthe pixel array are located on the first substrate and a plurality ofcircuit columns are located on a second substrate and showing anelectrical connection and communication between one column of pixels toits associated or corresponding column of circuitry; and

FIGS. 35A and 35B illustrate a perspective view and a side view,respectively, of an implementation of an imaging sensor having aplurality of pixel arrays for producing a three-dimensional image,wherein the plurality of pixel arrays and the image sensor are built ona plurality of substrates.

DETAILED DESCRIPTION

Disclosed herein are systems, methods, and devices for digital imagingthat may be primarily suited to medical applications such as medicalendoscopic imaging. An embodiment of the disclosure is an endoscopicsystem for fluorescence and/or color imaging in a light deficientenvironment.

The imaging systems disclosed herein place aggressive constraints on thesize of the image sensor. This enables the image sensor to be placed ina distal end of an endoscope and thereby enables the correspondingbenefits of improved optical simplicity and increased mechanicalrobustness for the endoscope. However, placing these aggressiveconstraints on the image sensor area results in fewer and/or smallerpixels and can degrade image quality. An embodiment of the disclosureovercomes this challenge by incorporating a monochrome image sensor withminimal peripheral circuitry, connection pads, and logic. The imagingsystems disclosed herein provide means for extending the dynamic range,sensor sensitivity, and spatial resolution of resultant images whilestill decreasing the overall size of the image sensor.

In an embodiment, a system includes an image sensor comprising a pixelarray. The dynamic range and spatial resolution of the image sensor areimproved by segmenting the pixels of the pixel array in a checkerboardpattern. The pixel array has only monochrome pixels that are “coloragnostic” and can sense reflected electromagnetic radiation with a widerange of wavelengths. The checkerboard pattern of the pixels may beconfigured to include long exposure pixel and short exposure pixelsarranged in a checkerboard pattern with respect to one another. Thepixel array may then return two exposure frames for each reading of thepixel array, including a short exposure frame and a long exposure frame.The short exposure frame and the long exposure frame may be combined togenerate a combined exposure frame with increased dynamic range. Thecheckerboard pattern of the pixels enables granular spatial segmentationfor generating multiple exposure frames for each reading of the pixelarray.

Conventional endoscopes are designed such that the image sensor isplaced at a proximal end of the device within a handpiece unit. Thisconfiguration requires that incident light travel the length of theendoscope by way of precisely coupled optical elements. The preciseoptical elements can easily be misaligned during regular use, and thiscan lead to image distortion or image loss. Embodiments of thedisclosure place an image sensor within a distal end of the endoscopeitself. This provides greater optical simplicity when compared withimplementations known in the art. However, an acceptable solution tothis approach is by no means trivial and introduces its own set ofengineering challenges, not least of which that the image sensor mustfit within a highly constrained area. Disclosed herein are systems,methods, and devices for digital imaging in a light deficientenvironment that employ minimal area image sensors and can be configuredfor fluorescence and color imaging.

In some instances, it is desirable to generate endoscopic imaging withmultiple data types or multiple images overlaid on one another. Forexample, it may be desirable to generate a color (“RGB”) image thatfurther includes fluorescence imaging data overlaid on the RGB image. Anoverlaid image of this nature may enable a medical practitioner orcomputer program to identify critical body structures based on thefluorescence imaging data. Historically, this would require the use ofmultiple sensor systems including an image sensor for color imaging andone or more additional image sensors for fluorescence imaging. In suchsystems, the multiple image sensors would have multiple types of pixelsensors that are each sensitive to distinct ranges of electromagneticradiation. In systems known in the art, this includes the three separatetypes of pixel sensors for generating an RGB color image along withadditional pixel sensors for generating the fluorescence image data atdifferent wavelengths of the electromagnetic spectrum. These multipledifferent pixel sensors consume a prohibitively large physical space andcannot be located at a distal tip of the endoscope. In systems known inthe art, the camera or cameras are not placed at the distal tip of theendoscope and are instead placed in an endoscope handpiece or roboticunit. This introduces numerous disadvantages and causes the endoscope tobe very delicate. The delicate endoscope may be damaged and imagequality may be degraded when the endoscope is bumped or impacted duringuse. Considering the foregoing, disclosed herein are systems, methods,and devices for endoscopic imaging in a light deficient environment. Thesystems, methods, and devices disclosed herein provide means foremploying multiple imaging techniques in a single imaging session whilepermitting one or more image sensors to be disposed in a distal tip ofthe endoscope.

Fluorescence Imaging

The systems, methods, and devices disclosed herein provide means forgenerating fluorescence imaging data in a light deficient environment.The fluorescence imaging data may be used to identify certain materials,tissues, components, or processes within a body cavity or other lightdeficient environment. In certain embodiments, fluorescence imaging isprovided to a medical practitioner or computer-implemented program toenable the identification of certain structures or tissues within abody. Such fluorescence imaging data may be overlaid on black-and-whiteor RGB images to provide additional information and context.

Fluorescence is the emission of light by a substance that has absorbedlight or other electromagnetic radiation. Certain fluorescent materialsmay “glow” or emit a distinct color that is visible to the human eyewhen the fluorescent material is subjected to ultraviolet light or otherwavelengths of electromagnetic radiation. Certain fluorescent materialswill cease to glow nearly immediately when the radiation source stops.

Fluorescence occurs when an orbital electron of a molecule, atom, ornanostructure is excited by light or other electromagnetic radiation,and then relaxes to its ground state by emitting a photon from theexcited state. The specific frequencies of electromagnetic radiationthat excite the orbital electron, or are emitted by the photon duringrelaxation, are dependent on the particular atom, molecule, ornanostructure. In most cases, the light emitted by the substance has alonger wavelength, and therefore lower energy, than the radiation thatwas absorbed by the substance. However, when the absorbedelectromagnetic radiation is intense, it is possible for one electron toabsorb two photons. This two-photon absorption can lead to emission ofradiation having a shorter wavelength, and therefore higher energy, thanthe absorbed radiation. Additionally, the emitted radiation may also bethe same wavelength as the absorbed radiation.

Fluorescence imaging has numerous practical applications, includingmineralogy, gemology, medicine, spectroscopy for chemical sensors,detecting biological processes or signals, and so forth. Fluorescencemay particularly be used in biochemistry and medicine as anon-destructive means for tracking or analyzing biological molecules.The biological molecules, including certain tissues or structures, maybe tracked by analyzing the fluorescent emission of the biologicalmolecules after being excited by a certain wavelength of electromagneticradiation. However, relatively few cellular components are naturallyfluorescent. In certain implementations, it may be desirable tovisualize a certain tissue, structure, chemical process, or biologicalprocess that is not intrinsically fluorescent. In such animplementation, the body may be administered a dye or reagent that mayinclude a molecule, protein, or quantum dot having fluorescentproperties. The reagent or dye may then fluoresce after being excited bya certain wavelength of electromagnetic radiation. Different reagents ordyes may include different molecules, proteins, and/or quantum dots thatwill fluoresce at particular wavelengths of electromagnetic radiation.Thus, it may be necessary to excite the reagent or dye with aspecialized band of electromagnetic radiation to achieve fluorescenceand identify the desired tissue, structure, or process in the body.

Fluorescence imaging may provide valuable information in the medicalfield that may be used for diagnostic purposes and/or may be visualizedin real-time during a medical procedure. Specialized reagents or dyesmay be administered to a body to fluoresce certain tissues, structures,chemical processes, or biological processes. The fluorescence of thereagent or dye may highlight body structures such as blood vessels,nerves, particular organs, and so forth. Additionally, the fluorescenceof the reagent or dye may highlight conditions or diseases such ascancerous cells or cells experiencing a certain biological or chemicalprocess that may be associated with a condition or disease. Thefluorescence imaging may be used in real-time by a medical practitioneror computer program for differentiating between, for example, cancerousand non-cancerous cells during a surgical tumor extraction. Thefluorescence imaging may further be used as a non-destructive means fortracking and visualizing over time a condition in the body that wouldotherwise not be visible by the human eye or distinguishable in an RGBimage.

The systems, methods, and devices for generating fluorescence imagingdata may be used in coordination with reagents or dyes. Some reagents ordyes are known to attach to certain types of tissues and fluoresce atspecific wavelengths of the electromagnetic spectrum. In animplementation, a reagent or dye is administered to a patient that isconfigured to fluoresce when activated by certain wavelengths of light.The endoscopic imaging system disclosed herein is used to excite andfluoresce the reagent or dye. The fluorescence of the reagent or dye iscaptured by the endoscopic imaging system to aid in the identificationof tissues or structures in the body cavity. In an implementation, apatient is administered a plurality of reagents or dyes that are eachconfigured to fluoresce at different wavelengths and/or provide anindication of different structures, tissues, chemical reactions,biological processes, and so forth. In such an implementation, theendoscopic imaging system emits each of the applicable wavelengths tofluoresce each of the applicable reagents or dyes. This may negate theneed to perform individual imaging procedures for each of the pluralityof reagents or dyes.

Imaging reagents can enhance imaging capabilities in pharmaceutical,medical, biotechnology, diagnostic, and medical procedure industries.Many imaging techniques such as X-ray, computer tomography (CT),ultrasound, magnetic resonance imaging (MRI), and nuclear medicine,mainly analyze anatomy and morphology and are unable to detect changesat the molecular level. Fluorescent reagents, dyes, and probes,including quantum dot nanoparticles and fluorescent proteins, assistmedical imaging technologies by providing additional information aboutcertain tissues, structures, chemical processes, and/or biologicalprocesses that are present within the imaging region. Imaging usingfluorescent reagents enables cell tracking and/or the tracking ofcertain molecular biomarkers. Fluorescent reagents may be applied forimaging cancer, infection, inflammation, stem cell biology, and others.Numerous fluorescent reagents and dyes are being developed and appliedfor visualizing and tracking biological processes in a non-destructivemanner. Such fluorescent reagents may be excited by a certain wavelengthor band of wavelengths of electromagnetic radiation. Similarly, thosefluorescent reagents may emit relaxation energy at a certain wavelengthor band of wavelengths when fluorescing, and the emitted relaxationenergy may be read by a sensor to determine the location and/orboundaries of the reagent or dye.

In an embodiment of the disclosure, an endoscopic imaging system pulseselectromagnetic radiation for exciting an electron in a fluorescentreagent or dye. The endoscopic imaging system may pulse multipledifferent wavelengths of electromagnetic radiation for fluorescingmultiple different reagents or dyes during a single imaging session. Theendoscope includes an image sensor that is sensitive to the relaxationwavelength(s) of the one or more reagents or dyes. The imaging datagenerated by the image sensor can be used to identify a location andboundary of the one or more reagents or dyes. The endoscope system mayfurther pulse electromagnetic radiation in red, green, and blue bands ofvisible light such that the fluorescence imaging can be overlaid on anRGB video stream.

Pulsed Imaging

Some implementations of the disclosure include aspects of a combinedsensor and system design that allows for high definition imaging withreduced pixel counts in a controlled illumination environment. This isaccomplished with frame-by-frame pulsing of a single-color wavelengthand switching or alternating each frame between a single, differentcolor wavelength using a controlled light source in conjunction withhigh frame capture rates and a specially designed correspondingmonochromatic sensor. Additionally, electromagnetic radiation outsidethe visible light spectrum may be pulsed to enable the generation of afluorescence image. The pixels may be color agnostic such that eachpixel generates data for each pulse of electromagnetic radiation,including pulses for red, green, and blue visible light wavelengthsalong with other wavelengths used for exciting a fluorescent reagent ordye.

For the purposes of promoting an understanding of the principles inaccordance with the disclosure, reference will now be made to theembodiments illustrated in the drawings and specific language will beused to describe the same. It will nevertheless be understood that nolimitation of the scope of the disclosure is thereby intended. Anyalterations and further modifications of the inventive featuresillustrated herein, and any additional applications of the principles ofthe disclosure as illustrated herein, which would normally occur to oneskilled in the relevant art and having possession of this disclosure,are to be considered within the scope of the disclosure claimed.

Before the structure, systems and methods for producing an image in alight deficient environment are disclosed and described, it is to beunderstood that this disclosure is not limited to the particularstructures, configurations, process steps, and materials disclosedherein as such structures, configurations, process steps, and materialsmay vary somewhat. It is also to be understood that the terminologyemployed herein is used for the purpose of describing particularembodiments only and is not intended to be limiting since the scope ofthe disclosure will be limited only by the appended claims andequivalents thereof.

In describing and claiming the subject matter of the disclosure, thefollowing terminology will be used in accordance with the definitionsset out below.

It must be noted that, as used in this specification and the appendedclaims, the singular forms “a,” “an,” and “the” include plural referentsunless the context clearly dictates otherwise.

As used herein, the terms “comprising,” “including,” “containing,”“characterized by,” and grammatical equivalents thereof are inclusive oropen-ended terms that do not exclude additional, unrecited elements ormethod steps.

As used herein, the phrase “consisting of” and grammatical equivalentsthereof exclude any element or step not specified in the claim.

As used herein, the phrase “consisting essentially of” and grammaticalequivalents thereof limit the scope of a claim to the specifiedmaterials or steps and those that do not materially affect the basic andnovel characteristic or characteristics of the claimed disclosure.

As used herein, the term “proximal” shall refer broadly to the conceptof a portion nearest an origin.

As used herein, the term “distal” shall generally refer to the oppositeof proximal, and thus to the concept of a portion farther from anorigin, or a furthest portion, depending upon the context.

As used herein, color sensors or multi spectrum sensors are thosesensors known to have a color filter array (CFA) thereon to filter theincoming electromagnetic radiation into its separate components. In thevisual range of the electromagnetic spectrum, such a CFA may be built ona Bayer pattern or modification thereon to separate green, red and bluespectrum components of the light.

As used herein, monochromatic sensor refers to an unfiltered imagingsensor. Since the pixels are color agnostic, the effective spatialresolution is appreciably higher than for their color (typicallyBayer-pattern filtered) counterparts in conventional single-sensorcameras. Monochromatic sensors may also have higher quantum efficiencybecause fewer incident photons are wasted between individual pixels.

As used herein, an emitter is a device that is capable of generating andemitting electromagnetic pulses. Various embodiments of emitters may beconfigured to emit pulses and have very specific frequencies or rangesof frequencies from within the entire electromagnetic spectrum. Pulsesmay comprise wavelengths from the visible and non-visible ranges. Anemitter may be cycled on and off to produce a pulse or may produce apulse with a shutter mechanism. An emitter may have variable poweroutput levels or may be controlled with a secondary device such as anaperture or filter. An emitter may emit broad spectrum or full spectrumelectromagnetic radiation that may produce pulses through colorfiltering or shuttering. An emitter may comprise a plurality ofelectromagnetic sources that act individually or in concert.

It should be noted that as used herein the term “light” is both aparticle and a wavelength and is intended to denote electromagneticradiation that is detectable by a pixel array and may includewavelengths from the visible and non-visible spectrums ofelectromagnetic radiation. The term “partition” is used herein to mean apre-determined range of wavelengths of the electromagnetic spectrum thatis less than the entire spectrum, or in other words, wavelengths thatmake up some portion of the electromagnetic spectrum. As used herein, anemitter is a light source that may be controllable as to the portion ofthe electromagnetic spectrum that is emitted or that may operate as tothe physics of its components, the intensity of the emissions, or theduration of the emission, or all the above. An emitter may emit light inany dithered, diffused, or collimated emission and may be controlleddigitally or through analog methods or systems. As used herein, anelectromagnetic emitter is a source of a burst of electromagnetic energyand includes light sources, such as lasers, LEDs, incandescent light, orany light source that can be digitally controlled.

Referring now to the figures, FIG. 1 illustrates a schematic diagram ofa system 100 for sequential pulsed imaging in a light deficientenvironment. The system 100 can be deployed to generate an RGB imagewith fluorescence imaging data overlaid on the RGB image. The system 100includes an emitter 102 and a pixel array 122. The emitter 102 pulses apartition of electromagnetic radiation in the light deficientenvironment 112 and the pixel array 122 senses instances of reflectedelectromagnetic radiation. The emitter 102 and the pixel array 122 workin sequence such that one or more pulses of a partition ofelectromagnetic radiation results in image data sensed by the pixelarray 122.

It should be noted that as used herein the term “light” is both aparticle and a wavelength and is intended to denote electromagneticradiation that is detectable by a pixel array 122 and may includewavelengths from the visible and non-visible spectrums ofelectromagnetic radiation. The term “partition” is used herein to mean apre-determined range of wavelengths of the electromagnetic spectrum thatis less than the entire spectrum, or in other words, wavelengths thatmake up some portion of the electromagnetic spectrum. As used herein, anemitter is a light source that may be controllable as to the portion ofthe electromagnetic spectrum that is emitted or that may operate as tothe physics of its components, the intensity of the emissions, or theduration of the emission, or all the above. An emitter may emit light inany dithered, diffused, or collimated emission and may be controlleddigitally or through analog methods or systems. As used herein, anelectromagnetic emitter is a source of a burst of electromagnetic energyand includes light sources, such as lasers, LEDs, incandescent light, orany light source that can be digitally controlled.

A pixel array 122 of an image sensor may be paired with the emitter 102electronically, such that the emitter 102 and the pixel array 122 aresynced during operation for both receiving the emissions and for theadjustments made within the system. The emitter 102 may be tuned to emitelectromagnetic radiation in the form of a laser, which may be pulsed toilluminate a light deficient environment 112. The emitter 102 may pulseat an interval that corresponds to the operation and functionality ofthe pixel array 122. The emitter 102 may pulse light in a plurality ofelectromagnetic partitions such that the pixel array receiveselectromagnetic energy and produces a dataset that corresponds in timewith each specific electromagnetic partition. For example, FIG. 1illustrates an implementation wherein the emitter 102 emits fourdifferent partitions of electromagnetic radiation, including red 104,green 106, blue 108, and a fluorescence excitation 110 wavelength. Thefluorescence excitation 110 wavelength may include a plurality ofdifferent partitions of electromagnetic radiation that are selected tofluoresce a plurality of fluorescent reagents that are present withinthe light deficient environment 112. The fluorescent excitation 110wavelength may be selected to fluoresce a particular fluorescent reagentthat is present in the light deficient environment 112.

The light deficient environment 112 includes structures, tissues, andother elements that reflect a combination of red 114, green 116, and/orblue 118 light. A structure that is perceived as being red 114 willreflect back pulsed red 104 light. The reflection off the red structureresults in sensed red 105 by the pixel array 122 following the pulsedred 104 emission. The data sensed by the pixel array 122 results in ared exposure frame. A structure that is perceived as being green 116will reflect back pulsed green 106 light. The reflection off the greenstructure results in sensed green 107 by the pixel array 122 followingthe pulsed green 106 emission. The data sensed by the pixel array 122results in a green exposure frame. A structure that is perceived asbeing blue 118 will reflect back pulsed blue 108 light. The reflectionoff the blue structure results in sensed blue 109 by the pixel array 122following the pulsed blue 108 emission. The data sensed by the pixelarray 122 results in a blue exposure frame.

When a structure is a combination of colors, the structure will reflectback a combination of the pulsed red 104, pulsed green 106, and/orpulsed blue 108 emissions. For example, a structure that is perceived asbeing purple will reflect back light from the pulsed red 104 and pulsedblue 108 emissions. The resulting data sensed by the pixel array 122will indicate that light was reflected in the same region following thepulsed red 104 and pulsed blue 108 emissions. When the resultant redexposure frame and blue exposure frames are combined to form the RGBimage frame, the RGB image frame will indicate that the structure ispurple.

In an embodiment where the light deficient environment 112 includes afluorescent reagent or dye or includes one or more fluorescentstructures, tissues, or other elements, the pulsing scheme may includethe emission of a certain fluorescence excitation wavelength. Thecertain fluorescence excitation wavelength may be selected to fluorescea known fluorescent reagent, dye, or other structure. The fluorescentstructure will be sensitive to the fluorescence excitation wavelengthand will emit a fluorescence relaxation wavelength. The fluorescencerelaxation wavelength will be sensed by the pixel array 122 followingthe emission of the fluorescence excitation wavelength. The data sensedby the pixel array 122 results in a fluorescence exposure frame. Thefluorescence exposure frame may be combined with multiple other exposureframes to form an image frame. The data in the fluorescence exposureframe may be overlaid on an RGB image frame that includes data from ared exposure frame, a green exposure frame, and a blue exposure frame.

In an embodiment where the light deficient environment 112 includesstructures, tissues, or other materials that emit a spectral response tocertain partitions of the electromagnetic spectrum, the pulsing schememay include the emission of a hyperspectral partition of electromagneticradiation for the purpose of eliciting the spectral response from thestructures, tissues, or other materials present in the light deficientenvironment 112. The spectral response includes the emission orreflection of certain wavelengths of electromagnetic radiation. Thespectral response can be sensed by the pixel array 122 and result in ahyperspectral exposure frame. The hyperspectral exposure frame may becombined with multiple other exposure frames to form an image frame. Thedata in the hyperspectral exposure frame may be overlaid on an RGB imageframe that includes data from a red exposure frame, a green exposureframe, and a blue exposure frame.

In an embodiment, the pulsing scheme includes the emission of a lasermapping or tool tracking pattern. The reflected electromagneticradiation sensed by the pixel array 122 following the emission of thelaser mapping or tool tracking pattern results in a laser mappingexposure frame. The data in the laser mapping exposure frame may beprovided to a corresponding system to identify, for example, distancesbetween tools present in the light deficient environment 112, athree-dimensional surface topology of a scene in the light deficientenvironment 112, distances, dimensions, or positions of structures orobjects within the scene, and so forth. This data may be overlaid on anRGB image frame or otherwise provided to a user of the system.

The emitter 102 may be a laser emitter that is capable of emittingpulsed red 104 light for generating sensed red 105 data for identifyingred 114 elements within the light deficient environment 112. The emitter102 is further capable of emitting pulsed green 106 light for generatingsensed green 107 data for identifying green 116 elements within thelight deficient environment. The emitter 102 is further capable ofemitting pulsed blue 108 light for generating sensed blue 109 data foridentifying blue 118 elements within the light deficient environment.The emitter 102 is further capable of emitting pulsed fluorescenceexcitation 110 wavelength(s) of electromagnetic radiation foridentifying a fluorescent reagent 120 within the light deficientenvironment 112. The fluorescent reagent 120 is identified by excitingthe fluorescent reagent 120 with the pulsed fluorescence excitation 110light and then sensing (by the pixel array 122) the fluorescencerelaxation 111 wavelength for that particular fluorescent reagent 120.The emitter 102 is capable of emitting the pulsed red 104, pulsed green106, pulsed blue 108, and pulsed fluorescence excitation 110 wavelengthsin any desired sequence.

The pixel array 122 senses reflected electromagnetic radiation. Each ofthe sensed red 105, the sensed green 107, the sensed blue 109, and thesensed fluorescence relaxation 111 data can be referred to as an“exposure frame.” Each exposure frame is assigned a specific color orwavelength partition, wherein the assignment is based on the timing ofthe pulsed color or wavelength partition from the emitter 102. Theexposure frame in combination with the assigned specific color orwavelength partition may be referred to as a dataset. Even though thepixels 122 are not color-dedicated, they can be assigned a color for anygiven dataset based on a priori information about the emitter.

For example, during operation, after pulsed red 104 light is pulsed inthe light deficient environment 112, the pixel array 122 sensesreflected electromagnetic radiation. The reflected electromagneticradiation results in an exposure frame, and the exposure frame iscatalogued as sensed red 105 data because it corresponds in time withthe pulsed red 104 light. The exposure frame in combination with anindication that it corresponds in time with the pulsed red 104 light isthe “dataset.” This is repeated for each partition of electromagneticradiation emitted by the emitter 102. The data created by the pixelarray 122 includes the sensed red 105 exposure frame identifying red 114components in the light deficient environment and corresponding in timewith the pulsed red 104 light. The data further includes the sensedgreen 107 exposure frame identifying green 116 components in the lightdeficient environment and corresponding in time with the pulsed green106 light. The data further includes the sensed blue 109 exposure frameidentifying blue 118 components in the light deficient environment andcorresponding in time with the pulsed blue 108 light. The data furtherincludes the sensed fluorescence relaxation 111 exposure frameidentifying the fluorescent reagent 120 and corresponding in time withthe pulsed fluorescence excitation 110 wavelength(s) of light.

In one embodiment, three datasets representing RED, GREEN and BLUEelectromagnetic pulses are combined to form a single image frame. Thus,the information in a red exposure frame, a green exposure frame, and ablue exposure frame are combined to form a single RGB image frame. Oneor more additional datasets representing other wavelength partitions maybe overlaid on the single RGB image frame. The one or more additionaldatasets may represent, for example, fluorescence imaging responsive tothe pulsed excitation 110 wavelength between 770 nm and 790 nm andbetween 795 nm and 815 nm.

It will be appreciated that the disclosure is not limited to anyparticular color combination or any particular electromagneticpartition, and that any color combination or any electromagneticpartition may be used in place of RED, GREEN and BLUE, such as Cyan,Magenta and Yellow; Ultraviolet; infrared; any combination of theforegoing, or any other color combination, including all visible andnon-visible wavelengths, without departing from the scope of thedisclosure. In the figure, the light deficient environment 112 to beimaged includes red 114, green 116, and blue 118 portions, and furtherincludes a fluorescent reagent 120. As illustrated in the figure, thereflected light from the electromagnetic pulses only contains the datafor the portion of the object having the specific color that correspondsto the pulsed color partition. Those separate color (or color interval)datasets can then be used to reconstruct the image by combining thedatasets at 126. The information in each of the multiple exposure frames(i.e., the multiple datasets) may be combined by a controller 124, acontrol unit, a camera control unit, the image sensor, an image signalprocessing pipeline, or some other computing resource that isconfigurable to process the multiple exposure frames and combine thedatasets at 126. The datasets may be combined to generate the singleimage frame within the endoscope unit itself or offsite by some otherprocessing resource.

FIG. 2 is a system 200 for providing illumination to a light deficientenvironment, such as for endoscopic imaging. The system 200 may be usedin combination with any of the systems, methods, or devices disclosedherein. The system 200 includes an emitter 202, a controller 204, ajumper waveguide 206, a waveguide connector 208, a lumen waveguide 210,a lumen 212, and an image sensor 214 with accompanying opticalcomponents (such as a lens). The emitter 202 (may be genericallyreferred to as a “light source”) generates light that travels throughthe jumper waveguide 206 and the lumen waveguide 210 to illuminate ascene at a distal end of the lumen 212. The emitter 202 may be used toemit any wavelength of electromagnetic energy including visiblewavelengths, infrared, ultraviolet, hyperspectral, fluorescenceexcitation, laser scanning pulsing schemes, or other wavelengths. Thelumen 212 may be inserted into a patient's body for imaging, such asduring a procedure or examination. The light is output as illustrated bydashed lines 216. A scene illuminated by the light may be captured usingthe image sensor 214 and displayed for a doctor or some other medicalpersonnel. The controller 204 may provide control signals to the emitter202 to control when illumination is provided to a scene. In oneembodiment, the emitter 202 and controller 204 are located within acamera control unit (CCU) or external console to which an endoscope isconnected. If the image sensor 214 includes a CMOS sensor, light may beperiodically provided to the scene in a series of illumination pulsesbetween readout periods of the image sensor 214 during what is known asa blanking period. Thus, the light may be pulsed in a controlled mannerto avoid overlapping into readout periods of the image pixels in a pixelarray of the image sensor 214.

In one embodiment, the lumen waveguide 210 includes one or more opticalfibers. The optical fibers may be made of a low-cost material, such asplastic to allow for disposal of the lumen waveguide 210 and/or otherportions of an endoscope. In one embodiment, the lumen waveguide 210 isa single glass fiber having a diameter of 500 microns. The jumperwaveguide 206 may be permanently attached to the emitter 202. Forexample, a jumper waveguide 206 may receive light from an emitter withinthe emitter 202 and provide that light to the lumen waveguide 210 at thelocation of the connector 208. In one embodiment, the jumper waveguide106 includes one or more glass fibers. The jumper waveguide may includeany other type of waveguide for guiding light to the lumen waveguide210. The connector 208 may selectively couple the jumper waveguide 206to the lumen waveguide 210 and allow light within the jumper waveguide206 to pass to the lumen waveguide 210. In one embodiment, the lumenwaveguide 210 is directly coupled to a light source without anyintervening jumper waveguide 206.

The image sensor 214 includes a pixel array. In an embodiment, the imagesensor 214 includes two or more pixel arrays for generating athree-dimensional image. The image sensor 214 may constitute two moreimage sensors that each have an independent pixel array and can operateindependent of one another. The pixel array of the image sensor 214includes active pixels and optical black (“OB”) or optically blindpixels. The active pixels may be clear “color agnostic” pixels that arecapable of sensing imaging data for any wavelength of electromagneticradiation. The optical black pixels are read during a blanking period ofthe pixel array when the pixel array is “reset” or calibrated. In anembodiment, light is pulsed during the blanking period of the pixelarray when the optical black pixels are being read. After the opticalblack pixels have been read, the active pixels are read during a readoutperiod of the pixel array. The active pixels may be charged by theelectromagnetic radiation that is pulsed during the blanking period suchthat the active pixels are ready to be read by the image sensor duringthe readout period of the pixel array.

FIG. 2A is a schematic diagram of complementary system hardware such asa special purpose or general-purpose computer. Implementations withinthe scope of the present disclosure may also include physical and othernon-transitory computer readable media for carrying or storing computerexecutable instructions and/or data structures. Such computer readablemedia can be any available media that can be accessed by a generalpurpose or special purpose computer system. Computer readable media thatstores computer executable instructions are computer storage media(devices). Computer readable media that carry computer executableinstructions are transmission media. Thus, by way of example, and notlimitation, implementations of the disclosure can comprise at least twodistinctly different kinds of computer readable media: computer storagemedia (devices) and transmission media.

Computer storage media (devices) includes RAM, ROM, EEPROM, CD-ROM,solid state drives (“SSDs”) (e.g., based on RAM), Flash memory,phase-change memory (“PCM”), other types of memory, other optical diskstorage, magnetic disk storage or other magnetic storage devices, or anyother medium which can be used to store desired program code means inthe form of computer executable instructions or data structures andwhich can be accessed by a general purpose or special purpose computer.

A “network” is defined as one or more data links that enable thetransport of electronic data between computer systems and/or modulesand/or other electronic devices. In an implementation, a sensor andcamera control unit may be networked to communicate with each other, andother components, connected over the network to which they areconnected. When information is transferred or provided over a network oranother communications connection (either hardwired, wireless, or acombination of hardwired or wireless) to a computer, the computerproperly views the connection as a transmission medium. Transmissionsmedia can include a network and/or data links, which can be used tocarry desired program code means in the form of computer executableinstructions or data structures and which can be accessed by a generalpurpose or special purpose computer. Combinations of the above shouldalso be included within the scope of computer readable media.

Further, upon reaching various computer system components, program codemeans in the form of computer executable instructions or data structuresthat can be transferred automatically from transmission media tocomputer storage media (devices) (or vice versa). For example, computerexecutable instructions or data structures received over a network ordata link can be buffered in RAM within a network interface module(e.g., a “NIC”), and then eventually transferred to computer system RAMand/or to less volatile computer storage media (devices) at a computersystem. RAM can also include solid state drives (SSDs or PCIx based realtime memory tiered storage, such as FusionIO). Thus, it should beunderstood that computer storage media (devices) can be included incomputer system components that also (or even primarily) utilizetransmission media.

Computer executable instructions comprise, for example, instructions anddata which, when executed by one or more processors, cause ageneral-purpose computer, special purpose computer, or special purposeprocessing device to perform a certain function or group of functions.The computer executable instructions may be, for example, binaries,intermediate format instructions such as assembly language, or evensource code. Although the subject matter has been described in languagespecific to structural features and/or methodological acts, it is to beunderstood that the subject matter defined in the appended claims is notnecessarily limited to the described features or acts described above.Rather, the described features and acts are disclosed as example formsof implementing the claims.

Those skilled in the art will appreciate that the disclosure may bepracticed in network computing environments with many types of computersystem configurations, including, personal computers, desktop computers,laptop computers, message processors, control units, camera controlunits, hand-held devices, hand pieces, multi-processor systems,microprocessor-based or programmable consumer electronics, network PCs,minicomputers, mainframe computers, mobile telephones, PDAs, tablets,pagers, routers, switches, various storage devices, and the like. Itshould be noted that any of the above-mentioned computing devices may beprovided by or located within a brick and mortar location. Thedisclosure may also be practiced in distributed system environmentswhere local and remote computer systems, which are linked (either byhardwired data links, wireless data links, or by a combination ofhardwired and wireless data links) through a network, both performtasks. In a distributed system environment, program modules may belocated in both local and remote memory storage devices.

Further, where appropriate, functions described herein can be performedin one or more of: hardware, software, firmware, digital components, oranalog components. For example, one or more application specificintegrated circuits (ASICs) or field programmable gate arrays (FPGAs)can be programmed to carry out one or more of the systems and proceduresdescribed herein. Certain terms are used throughout the followingdescription and Claims to refer to particular system components. As oneskilled in the art will appreciate, components may be referred to bydifferent names. This document does not intend to distinguish betweencomponents that differ in name, but not function.

FIG. 2A is a block diagram illustrating an example computing device 250.Computing device 250 may be used to perform various procedures, such asthose discussed herein. Computing device 250 can function as a server, aclient, or any other computing entity. Computing device 250 can performvarious monitoring functions as discussed herein, and can execute one ormore application programs, such as the application programs describedherein. Computing device 250 can be any of a wide variety of computingdevices, such as a desktop computer, a notebook computer, a servercomputer, a handheld computer, camera control unit, tablet computer andthe like.

Computing device 250 includes one or more processor(s) 252, one or morememory device(s) 254, one or more interface(s) 256, one or more massstorage device(s) 258, one or more Input/Output (I/O) device(s) 260, anda display device 280 all of which are coupled to a bus 262. Processor(s)252 include one or more processors or controllers that executeinstructions stored in memory device(s) 254 and/or mass storagedevice(s) 258. Processor(s) 252 may also include various types ofcomputer readable media, such as cache memory.

Memory device(s) 254 include various computer readable media, such asvolatile memory (e.g., random access memory (RAM) 264) and/ornonvolatile memory (e.g., read-only memory (ROM) 266). Memory device(s)254 may also include rewritable ROM, such as Flash memory.

Mass storage device(s) 258 include various computer readable media, suchas magnetic tapes, magnetic disks, optical disks, solid-state memory(e.g., Flash memory), and so forth. As shown in FIG. 2 , a particularmass storage device is a hard disk drive 274. Various drives may also beincluded in mass storage device(s) 258 to enable reading from and/orwriting to the various computer readable media. Mass storage device(s)258 include removable media 276 and/or non-removable media.

I/O device(s) 260 include various devices that allow data and/or otherinformation to be input to or retrieved from computing device 250.Example I/O device(s) 260 include digital imaging devices,electromagnetic sensors and emitters, cursor control devices, keyboards,keypads, microphones, monitors or other display devices, speakers,printers, network interface cards, modems, lenses, CCDs or other imagecapture devices, and the like.

Display device 280 includes any type of device capable of displayinginformation to one or more users of computing device 250. Examples ofdisplay device 280 include a monitor, display terminal, video projectiondevice, and the like.

Interface(s) 256 include various interfaces that allow computing device250 to interact with other systems, devices, or computing environments.Example interface(s) 256 may include any number of different networkinterfaces 270, such as interfaces to local area networks (LANs), widearea networks (WANs), wireless networks, and the Internet. Otherinterface(s) include user interface 268 and peripheral device interface272. The interface(s) 256 may also include one or more user interfaceelements 268. The interface(s) 256 may also include one or moreperipheral interfaces such as interfaces for printers, pointing devices(mice, track pad, etc.), keyboards, and the like.

Bus 262 allows processor(s) 252, memory device(s) 254, interface(s) 256,mass storage device(s) 258, and I/O device(s) 260 to communicate withone another, as well as other devices or components coupled to bus 262.Bus 262 represents one or more of several types of bus structures, suchas a system bus, PCI bus, IEEE 1394 bus, USB bus, and so forth.

For purposes of illustration, programs and other executable programcomponents are shown herein as discrete blocks, although it isunderstood that such programs and components may reside at various timesin different storage components of computing device 250 and are executedby processor(s) 252. Alternatively, the systems and procedures describedherein can be implemented in hardware, or a combination of hardware,software, and/or firmware. For example, one or more application specificintegrated circuits (ASICs) or field programmable gate arrays (FPGAs)can be programmed to carry out one or more of the systems and proceduresdescribed herein.

FIG. 3A illustrates the operational cycles of a sensor used in rollingreadout mode or during the sensor readout 300. The frame readout periodmay start at and may be represented by vertical line 310. The readoutperiod 302 is represented by the diagonal or slanted line. The sensormay be read out on a row by row basis, the top of the downwards slantededge being the sensor top row 312 and the bottom of the downwardsslanted edge being the sensor bottom row 314. The time between the lastrow readout and the next readout period may be called the blankingperiod 316. It should be noted that some of the sensor pixel rows mightbe covered with a light shield (e.g., a metal coating or any othersubstantially black layer of another material type). These covered pixelrows may be referred to as optical black rows 318 and 320. Optical blackrows 318 and 320 may be used as input for correction algorithms. Asshown in FIG. 3A, these optical black rows 318 and 320 may be located onthe top of the pixel array or at the bottom of the pixel array or at thetop and the bottom of the pixel array.

FIG. 3B illustrates a process of controlling the amount ofelectromagnetic radiation, e.g., light, that is exposed to a pixel,thereby integrated or accumulated by the pixel. It will be appreciatedthat photons are elementary particles of electromagnetic radiation.Photons are integrated, absorbed, or accumulated by each pixel andconverted into an electrical charge or current. An electronic shutter orrolling shutter (shown by dashed line 322) may be used to start theintegration time by resetting the pixel. The light will then integrateuntil the next readout period. The position of the electronic shutter322 can be moved between two readout periods 302 to control the pixelsaturation for a given amount of light. It should be noted that thistechnique allows for a constant integration time between two differentlines but introduces a delay when moving from top to bottom rows.

FIG. 3C illustrates the case where the electronic shutter 322 has beenremoved. In this configuration, the integration of the incoming lightmay start during the readout period 302 and may end at the next readoutperiod 302, which also defines the start of the next integration.

FIG. 3D shows a configuration without an electronic shutter 322, butwith a controlled and pulsed light 330 during the blanking period 316.This ensures that all rows see the same light issued from the same lightpulse 330. In other words, each row will start its integration in a darkenvironment, which may be at the optical black back row 320 of read outframe (m) for a maximum light pulse width, and will then receive a lightstrobe and will end its integration in a dark environment, which may beat the optical black front row 318 of the next succeeding read out frame(m+1) for a maximum light pulse width. In the FIG. 3D example, the imagegenerated from the light pulse will be solely available during frame(m+1) readout without any interference with frames (m) and (m+2). Itshould be noted that the condition to have a light pulse to be read outonly in one frame and not interfere with neighboring frames is to havethe given light pulse firing during the blanking period 316. Because theoptical black rows 318, 320 are insensitive to light, the optical blackback rows 320 time of frame (m) and the optical black front rows 318time of frame (m+1) can be added to the blanking period 316 to determinethe maximum range of the firing time of the light pulse 330.

As illustrated in the FIG. 3A, a sensor may be cycled many times toreceive data for each pulsed color or wavelength (e.g., Red, Green,Blue, or other wavelength on the electromagnetic spectrum). Each cyclemay be timed. In an embodiment, the cycles may be timed to operatewithin an interval of 16.67 ms. In another embodiment, the cycles may betimed to operate within an interval of 8.3 ms. It will be appreciatedthat other timing intervals are contemplated by the disclosure and areintended to fall within the scope of this disclosure.

FIG. 4A graphically illustrates the operation of an embodiment of anelectromagnetic emitter. An emitter may be timed to correspond with thecycles of a sensor, such that electromagnetic radiation is emittedwithin the sensor operation cycle and/or during a portion of the sensoroperation cycle. FIG. 4A illustrates Pulse 1 at 402, Pulse 2 at 404, andPulse 3 at 406. In an embodiment, the emitter may pulse during thereadout period 302 of the sensor operation cycle. In an embodiment, theemitter may pulse during the blanking period 316 of the sensor operationcycle. In an embodiment, the emitter may pulse for a duration that isduring portions of two or more sensor operational cycles. In anembodiment, the emitter may begin a pulse during the blanking period316, or during the optical black portion 320 of the readout period 302,and end the pulse during the readout period 302, or during the opticalblack portion 318 of the readout period 302 of the next succeedingcycle. It will be understood that any combination of the above isintended to fall within the scope of this disclosure as long as thepulse of the emitter and the cycle of the sensor correspond.

FIG. 4B graphically represents varying the duration and magnitude of theemitted electromagnetic pulse (e.g., Pulse 1 at 412, Pulse 2 at 414, andPulse 3 at 416) to control exposure. An emitter having a fixed outputmagnitude may be pulsed during any of the cycles noted above in relationto FIGS. 3D and 4A for an interval to provide the needed electromagneticenergy to the pixel array. An emitter having a fixed output magnitudemay be pulsed at a longer interval of time, thereby providing moreelectromagnetic energy to the pixels or the emitter may be pulsed at ashorter interval of time, thereby providing less electromagnetic energy.Whether a longer or shorter interval time is needed depends upon theoperational conditions.

In contrast to adjusting the interval of time the emitter pulses a fixedoutput magnitude, the magnitude of the emission itself may be increasedto provide more electromagnetic energy to the pixels. Similarly,decreasing the magnitude of the pulse provides less electromagneticenergy to the pixels. It should be noted that an embodiment of thesystem may have the ability to adjust both magnitude and durationconcurrently, if desired. Additionally, the sensor may be adjusted toincrease its sensitivity and duration as desired for optimal imagequality. FIG. 4B illustrates varying the magnitude and duration of thepulses. In the illustration, Pulse 1 at 412 has a higher magnitude orintensity than either Pulse 2 at 414 or Pulse 3 at 416. Additionally,Pulse 1 at 412 has a shorter duration than Pulse 2 at 414 or Pulse 3 at416, such that the electromagnetic energy provided by the pulse isillustrated by the area under the pulse shown in the illustration. Inthe illustration, Pulse 2 at 414 has a relatively low magnitude orintensity and a longer duration when compared to either Pulse 1 at 412or Pulse 3 at 416. Finally, in the illustration, Pulse 3 at 416 has anintermediate magnitude or intensity and duration, when compared to Pulse1 at 412 and Pulse 2 at 414.

FIG. 5 is a graphical representation of an embodiment of the disclosurecombining the operational cycles, the electromagnetic emitter, and theemitted electromagnetic pulses of FIGS. 3A-3D and 4A to demonstrate theimaging system during operation in accordance with the principles andteachings of the disclosure. As can be seen in the figure, theelectromagnetic emitter pulses the emissions primarily during theblanking period 316 of the image sensor such that the pixels will becharged and ready to read during the readout period 302 of the imagesensor cycle. The dashed lines in FIG. 5 represent the pulses ofelectromagnetic radiation (from FIG. 4A). The pulses of electromagneticradiation are primarily emitted during the blanking period 316 of theimage sensor but may overlap with the readout period 302 of the imagesensor.

An exposure frame includes the data read by the pixel array of the imagesensor during a readout period 302. The exposure frame may be combinedwith an indication of what type of pulse was emitted by the emitterprior to the readout period 302. The combination of the exposure frameand the indication of the pulse type may be referred to as a dataset.Multiple exposure frames may be combined to generate a black-and-whiteor RGB color image. Additionally, hyperspectral, fluorescence, and/orlaser mapping imaging data may be overlaid on a black-and-white or RGBimage.

In an embodiment, an exposure frame is the data sensed by the pixelarray during the readout period 302 that occurs subsequent to a blankingperiod 316. The emission of electromagnetic radiation is emitted duringthe blanking period 316. In an embodiment, a portion of the emission ofelectromagnetic radiation overlaps the readout period 302. The blankingperiod 316 occurs when optical black pixels of the pixel array are beingread and the readout period 302 occurs when active pixels of the pixelarray are being read. The blanking period 316 may overlap the readoutperiod 302.

FIGS. 6A and 6B illustrate processes for recording an image frame.Multiple image frames may be strung together to generate a video stream.A single image frame may include data from multiple exposure frames,wherein an exposure frame is the data sensed by a pixel array subsequentto an emission of electromagnetic radiation. FIG. 6A illustrates atraditional process that is typically implemented with a color imagesensor having a color filter array (CFA) for filtering out certainwavelengths of light per pixel. FIG. 6B is a process that is disclosedherein and can be implemented with a monochromatic “color agnostic”image sensor that is receptive to all wavelengths of electromagneticradiation.

The process illustrated in FIG. 6A occurs from time t(0) to time t(1).The process begins with a white light emission 602 and sensing whitelight 604. The image is processed and displayed at 606 based on thesensing at 604.

The process illustrated in FIG. 6B occurs from time t(0) to time t(1).The process begins with an emission of green light 612 and sensingreflected electromagnetic radiation 614 subsequent to the emission ofgreen light 612. The process continues with an emission of red light 616and sensing reflected electromagnetic radiation 618 subsequent to theemission of red light 616. The process continues with an emission ofblue light 620 and sensing reflected electromagnetic radiation 622subsequent to the emission of blue light 620. The process continues withone or more emissions of a fluorescence excitation wavelengths 624 andsensing reflected electromagnetic energy 626 subsequent to each of theone or more emissions of fluorescence excitation wavelengths ofelectromagnetic radiation 624. The image is processed and displayed at628 based on each of the sensed reflected electromagnetic energyinstances 614, 618, 622, and 626.

The process illustrated in FIG. 6B provides a higher resolution imageand provides a means for generating an RGB image that further includesfluorescence imaging data. When partitioned spectrums of light are used,(as in FIG. 6B) a sensor can be made sensitive to all wavelengths ofelectromagnetic energy. In the process illustrated in FIG. 6B, themonochromatic pixel array is instructed that it is sensingelectromagnetic energy from a predetermined partition of the fullspectrum of electromagnetic energy in each cycle. Therefore, to form animage the sensor need only be cycled with a plurality of differingpartitions from within the full spectrum of light. The final image isassembled based on the multiple cycles. Because the image from eachcolor partition frame cycle has a higher resolution (compared with a CFApixel array), the resultant image created when the partitioned lightframes are combined also has a higher resolution. In other words,because each and every pixel within the array (instead of, at most,every second pixel in a sensor with a CFA) is sensing the magnitudes ofenergy for a given pulse and a given scene, just fractions of timeapart, a higher resolution image is created for each scene.

As can be seen graphically in the embodiments illustrated in FIGS. 6Aand 6B between times t(0) and t(1), the sensor for the partitionedspectrum system in FIG. 6B has cycled at least four times for every oneof the full spectrum system in FIG. 6A. In an embodiment, a displaydevice (LCD panel) operates at 50-60 frames per second. In such anembodiment, the partitioned light system in FIG. 6B may operate at200-240 frames per second to maintain the continuity and smoothness ofthe displayed video. In other embodiments, there may be differentcapture and display frame rates. Furthermore, the average capture ratecould be any multiple of the display rate.

In an embodiment, it may be desired that not all partitions berepresented equally within the system frame rate. In other words, notall light sources have to be pulsed with the same regularity so as toemphasize and de-emphasize aspects of the recorded scene as desired bythe users. It should also be understood that non-visible and visiblepartitions of the electromagnetic spectrum may be pulsed together withina system with their respective data value being stitched into the videooutput as desired for display to a user.

An embodiment may comprise a pulse cycle pattern as follows:

i. Green pulse;

ii. Red pulse;

iii. Blue pulse;

iv. Green pulse;

v. Red pulse;

vi. Blue pulse;

vii. Fluorescence excitation pulse;

viii. (Repeat)

As can be seen in the example, a fluorescence excitation partition maybe pulsed at a rate differing from the rates of the other partitionpulses. This may be done to emphasize a certain aspect of the scene,with the fluorescence imaging data simply being overlaid with the otherdata in the video output to make the desired emphasis. It should benoted that the addition of a fluorescence partition on top of the RED,GREEN, and BLUE partitions does not necessarily require the serializedsystem to operate at four times the rate of a full spectrum non-serialsystem because every partition does not have to be represented equallyin the pulse pattern. As seen in the embodiment, the addition of apartition pulse that is represented less in a pulse pattern(fluorescence excitation in the above example), would result in anincrease of less than 20% of the cycling speed of the sensor toaccommodate the irregular partition sampling.

In various embodiments, the pulse cycle pattern may further include anyof the following wavelengths in any suitable order. Such wavelengths maybe particularly suited for exciting a fluorescent reagent to generatefluorescence imaging data by sensing the relaxation emission of thefluorescent reagent based on a fluorescent reagent relaxation emission:

i. 770±20 nm;

ii. 770±10 nm;

iii. 770±5 nm;

iv. 790±20 nm;

v. 790±10 nm;

vi. 790±5 nm;

vii. 795±20 nm;

viii. 795±10 nm;

ix. 795±5 nm;

x. 815±20 nm;

xi. 815±10 nm;

xii. 815±5 nm;

xiii. 770 nm to 790 nm; and/or

-   -   xiv. 795 nm to 815 nm.

The partition cycles may be divided so as to accommodate or approximatevarious imaging and video standards. In an embodiment, the partitioncycles may comprise pulses of electromagnetic energy in the Red, Green,and Blue spectrum as follows as illustrated best in FIGS. 7A-7D. In FIG.7A, the different light intensities have been achieved by modulating thelight pulse width or duration within the working range shown by thevertical grey dashed lines. In FIG. 7B, the different light intensitieshave been achieved by modulating the light power or the power of theelectromagnetic emitter, which may be a laser or LED emitter, butkeeping the pulse width or duration constant. FIG. 7C shows the casewhere both the light power and the light pulse width are beingmodulated, leading to greater flexibility. The partition cycles may useCyan Magenta Yellow (CMY), infrared, ultraviolet, hyperspectral, andfluorescence using a non-visible pulse source mixed with visible pulsesources and any other color space required to produce an image orapproximate a desired video standard that is currently known or yet tobe developed. It should also be understood that a system may be able toswitch between the color spaces on the fly to provide the desired imageoutput quality.

In an embodiment using color spaces Green-Blue-Green-Red (as seen inFIG. 7D) it may be desirous to pulse the luminance components more oftenthan the chrominance components because users are generally moresensitive to light magnitude differences than to light colordifferences. This principle can be exploited using a mono-chromaticsensor as illustrated in FIG. 7D. In FIG. 7D, green, which contains themost luminance information, may be pulsed more often or with moreintensity in a (G-B-G-R-G-B-G-R . . . ) scheme to obtain the luminancedata. Such a configuration would create a video stream that hasperceptively more detail, without creating and transmittingunperceivable data.

In an embodiment, duplicating the pulse of a weaker partition may beused to produce an output that has been adjusted for the weaker pulse.For example, blue laser light is considered weak relative to thesensitivity of silicon-based pixels and is difficult to produce incomparison to the red or green light, and therefore may be pulsed moreoften during a frame cycle to compensate for the weakness of the light.These additional pulses may be done serially over time or by usingmultiple lasers that simultaneously pulse to produce the desiredcompensation effect. It should be noted that by pulsing during ablanking period (time during which the sensor is not reading out thepixel array), the sensor is insensitive to differences/mismatchesbetween lasers of the same kind and simply accumulates the light for thedesired output. In another embodiment, the maximum light pulse range maybe different from frame to frame. This is shown in FIG. 7E, where thelight pulses are different from frame to frame. The sensor may be builtto be able to program different blanking times with a repeating patternof two or three or four or n frames. In FIG. 7E, four different lightpulses are illustrated, and Pulse 1 may repeat for example after Pulse 4and may have a pattern of four frames with different blanking times.This technique can be used to place the most powerful partition on thesmallest blanking time and therefore allow the weakest partition to havewider pulse on one of the next frames without the need of increasing thereadout speed. The reconstructed frame can still have a regular patternfrom frame to frame as it is constituted of many pulsed frames.

FIGS. 8-11 illustrate example embodiments of a pixel array comprising aplurality of pixels, wherein the pixels are alternated from frame toframe.

FIG. 8 illustrates a pixel array 800 comprising a plurality of pixels.The pixels of the pixel array 800 are depicted as discrete squares. Thepixel array 800 is configured for sensing reflected electromagneticradiation for generating an RGB image frame based on a plurality ofindependent exposure frames. The pixel array 800 is illustrated withfour different configurations over time, including configurations for afirst exposure frame 802, a second exposure frame 804, a third exposureframe 806, and a fourth exposure frame 808. The first exposure frame802, the second exposure frame 804, the third exposure frame 806, andthe fourth exposure frame 808 may be combined to generate a single RGBimage frame. One or more additional exposure frames may be combined withor overlaid on the RGB image frame, including for example, ahyperspectral exposure frame, a fluorescence exposure frame, and/or alaser mapping or tool tracking exposure frame.

When the pixel array 800 is configured for the first exposure frame 802,the pixels are configured as green short exposure pixels 810 (notatedwith Gs) and green long exposure pixels 812 (notated with GL) arrangedin a checkerboard pattern. The pixel array 800 configuration for thesecond exposure frame 804 includes red pixels 806 (notated with R). Theconfiguration for the third exposure frame 806 includes pixelsconfigured as green short exposure pixels 810 and green long exposurepixels 812 arranged in a checkerboard pattern in an oppositeconfiguration with respect to the first exposure frame 802. Theconfiguration for the fourth exposure frame 808 includes blue exposureframes 818 (notated with B). This approach of including long exposurepixels and short exposure pixels increases the perceived resolution ofthe resulting image. The interpolated locations of the long exposurepixels and the short exposure pixels may be swapped from exposure frameto exposure frame, for example as illustrated in the first exposureframe 802 and the third exposure frame 806.

FIG. 9 illustrates a pixel array 900 comprising a plurality of pixels.The pixel array 900 is configured for sensing reflected electromagneticradiation for generating a YCbCr image frame based on a plurality ofindependent exposure frames. The pixel array 900 is illustrated withfour different configurations over time, including configurations for afirst exposure frame 902, a second exposure frame 904, a third exposureframe 906, and a fourth exposure frame 908. The data sensed by the pixelarray 900 for the multiple exposure frames 902, 904, 906, 908 can becombined to generate a single YCbCr image frame. The configuration ofthe pixels for the first exposure frame 902 includes luminance shortexposure pixels 910 (notated with Y_(S)) and luminance long exposurepixels 912 (notated with Y_(L)) arranged in a checkerboard pattern. Theconfiguration for the second exposure frame 904 includes chrominanceblue pixels 914 (notated with Cb). The configuration for the thirdexposure frame 906 includes luminance short exposure pixels 910 andluminance long exposure pixels 912 arranged in a checkerboard pattern inan opposite configuration with respect to the first exposure frame 902.The configuration for the fourth exposure frame 908 includes chrominancered pixels 916 (notated with Cr).

FIG. 10 illustrates a pixel array 1000 comprising a plurality of pixels.The pixel array 1000 is configured for sensing reflected electromagneticradiation for generating an RGB image based on a plurality ofindependent exposure frames. The pixel array 1000 is illustrated withfour different configurations over time, including configurations for afirst exposure frame 1002, a second exposure frame 1004, a thirdexposure frame 1006, and a fourth exposure frame 1008. The data sensedby the pixel array 1000 for the multiple exposure frames 1002, 1004,1006, 1008 can be combined to generate a single RGB image frame. Theconfiguration of the pixels for the first exposure frame 1002 includesgreen short exposure pixels 1010 (notated with Gs) and green longexposure pixels 1012 (notated with GL) arranged in a checkerboardpattern. The configuration for the second exposure frame 1004 includesred short exposure pixels 1014 (notated with R_(S)) and red longexposure pixels 1016 (notated with R_(L)). The configuration for thethird exposure frame 1006 includes green short exposure pixels 1010 andgreen long exposure pixels 1012 arranged in a checkerboard pattern withan opposite configuration with respect to the arrangement for the firstexposure frame 1002. The configuration for the fourth exposure frame1008 includes blue short exposure pixels 1018 (notated with B_(S)) andblue long exposure pixels 1020 (notated with B_(L)) arranged in acheckerboard pattern.

FIG. 11 illustrates a pixel array 1100 comprising a plurality of pixels.The pixel array 900 is configured for sensing reflected electromagneticradiation for generating a YCbCr image frame based on a plurality ofindependent exposure frames. The pixel array 1100 is illustrated withfour different configurations over time, including configurations for afirst exposure frame 1102, a second exposure frame 1104, a thirdexposure frame 1106, and a fourth exposure frame 1108. The data sensedby the pixel array 1100 for the multiple exposure frames 1102, 1104,1106, 1108 can be combined to generate a single YCbCr image frame. Theconfiguration of the pixels for the first exposure frame 1102 includesluminance short exposure pixels 1110 (notated with Y_(S)) and luminancelong exposure pixels 1112 (notated with Y_(L)) arranged in acheckerboard pattern. The configuration for the second exposure frame1104 includes chrominance blue short exposure pixels 1114 (notated withCb_(S)) and chrominance blue long exposure pixels 1116 (notated withCb_(L)) arranged in a checkerboard pattern. The configuration for thethird exposure frame 1106 includes luminance short exposure pixels 1110and luminance long exposure pixels 1112 arranged in a checkerboardpattern in an opposite configuration with respect to the first exposureframe 1102. The configuration for the fourth exposure frame 1108includes chrominance red short exposure pixels 1118 (notated withCr_(S)) and chrominance red long exposure pixels 1120 (notated withCr_(L)) arranged in a checkerboard pattern.

As illustrated in FIGS. 10 and 11 , the application of dual exposureexampling is not limited to green exposure frames or luminance exposureframes. In an embodiment, the pixels have independent dual exposureratios applied for the red exposure frames, blue exposure frames,chrominance red exposure frames, and/or chrominance blue exposure framesas applicable.

FIGS. 12-15 illustrate different embodiments for a pixel array circuitarrangement. In some embodiments, the dynamic range of a resultantexposure frame is enhanced by spatially binning signals from the pixelswithin the pixel array. A pixel array may be configured in a two-wayshared architecture that provides a means for two-way binning of pixels.This may be deployed in conjunction with simultaneous pulsing of the TX1and TX2 signals and results in photo signals being transferred to theshard floating diffusion at the same time. When each row is subsequentlyread out, the row has two times the charge range with the same noise ascompared with an un-binned case, and therefore has an additional 6 dB ofdynamic range.

An advantage of the monochrome image sensor is that neighboring pixelswithin the pixel array can be binned together. Binning enables a greaterreach of signal and thus greater dynamic range. The location of pixelbinning dictates the effectiveness for increasing dynamic range ofresultant exposure frames. For example, binning two adjacent pixels (maybe referred to as two-way binning) may be done in the digital domainsuch that an additional factor two (6 dB) of signal is realized.However, there may be two analog samples each contributing an equalamount of read noise amounting to a factor √2 (3 dB) of noiseenhancement. Therefore, the binning of data from two pixels at a pointlater in the chain than the source of read noise amounts to 3 dB ofadditional dynamic range. However, if binning is performed in the chargedomain, i.e., at the pixel level, then the additional dynamic range maybe 6 dB because the addition of readout noise occurs after the summationof signal.

FIG. 12 is a circuit diagram for a pixel array 1200 that employsconventional unshared pixels. The pixel array 1200 includes fourtransistors to facilitate low noise and to correlate double sampling.The pixel array 1200 may include five service wires as shown in thecircuit diagram. Three of the four transistors may be shared between twoor more neighboring pixels within the conventional unshared pixel array1200, and this increases the available area for the photodiode. As pixelsize is reduced, it becomes more challenging to maintain quantumefficiency because the photodiode occupies a smaller proportion of thearea.

FIG. 13 is a unit cell for a pixel array 1300 with conventional two-wayvertical sharing. The pixel array 1300 includes five transistors totalfor every two pixels such that there are 2.5 transistors per pixel. Thepixel array 1300 may include six wires for each pixel pair such thatfour of the wires may be horizontally routed and two of the wires may bevertically routed as illustrated in FIG. 13 . This results in two wiresper pixel edge in each dimension, and this is in contrast with theunshared pixels having three horizontal and two vertical wires per pixeledge.

FIG. 14 is a circuit diagram for a pixel array 1400 in which pixels arepaired horizontally rather than vertically. The implementationillustrated in FIG. 14 may be less favorable with respect to wirerouting simplicity because the four horizontal wires must now fit on asingle pixel edge. However, in some implementations, the pixel array1400 can offer benefits that outweigh this disadvantage. One benefit ofthe pixel array 1400 is that only half of the net circuitry is requiredto service each column of pixels. This reduces the overall chip area forthe pixel array because the column circuitry can consume significantphysical chip space.

An additional benefit of the pixel array 1400 illustrated in FIG. 14 isthat sharing provides two independent transfer gate transistor (TX)signals per row. This opens the possibility to have two independentexposures within a single row. The two independent exposures per singlerow may alternate between odd columns and even columns (e.g., asillustrated in FIGS. 8-11 and 15 ). The checkerboard arrangement of dualexposures is made possible by switching the transfer gate transistor one(TX1) and transfer gate transistor two (TX2) odd/even columnassociations on alternate rows (see FIG. 15 ).

FIG. 15 illustrates a single column circuit that may serve four columnsof pixels rather than two columns of pixels. The single column circuitmay be used for vertical two-way sharing of pixels. The embodimentillustrated in FIG. 15 enables a checkerboard arrangement of dualexposures by switching the TX1 and TX2 odd/even column associations onalternate rows. This is accomplished by including a “twist” in theTX1/TX2 routing for every second row. This odd-even exposure pattern maybe particularly applicable for monochrome image sensors as discussedherein.

In other embodiments, the switching of the TX1/TX2 assignments from rowto row may be accomplished by virtue of two alternating flavors of rowdriver circuitry at the side of the array, or by crafting the TX1/TX2routing differently within the odd and even rows.

FIGS. 16A and 16B illustrate timing for two alternative ways in whichmultiple sets of pixels in an array may integrate different degrees oflight. The exposure modulation may be affected by virtue of two globalTX pulses, GlobalTX1 and GlobalTX2. The two global TX pulses effectivelycreate two global shutters when combined with the light pulse edge(s).At the end of the integration period, the rolling pointer providesanother TX pulse in order to transfer the signal for readout. Fordescriptive purposes, the case of two sets of pixels of differentexposures in the checkerboard pattern (see e.g., FIGS. 8-11 and 15 ),will mainly be emphasized. It should be noted however, that the scope ofthis disclosure is intended to cover cases with higher numbers of pixeltypes (i.e., exposures) and with alternative physical pixel typearrangements. The spatial pattern depends on the number of pixel sets,the pixel layout, the pixel array arrangement and the pixel arrayconnections to the peripheral circuitry.

To avoid confusion, the rolling TX signals may be referred to herein asTX1 and TX2, whereas the global TX signals may be called GlobalTX1 andGlobalTX2. Global pulses affect all attached pixels in the array at thesame time. The non-global pulses may be applied via the rolling pointer.

Now referring to FIG. 16A, all pixels may be held in reset mode (and maytherefore be flushed) when GlobalTX1, GlobalTX2 and GlobalRST are high.When GlobalTX2 is low, all pixels in the array attached to TX2 begin tointegrate. When the P2 light pulse occurs, the corresponding photocharge is integrated by the TX2 pixels. However, because the GlobalRSTand GlobalTX1 signals may still be high, any photo charge created by theP2 pulse in the TX1 pixels may be drained off. When GlobalTX1 is low,the TX1 pixels begin to integrate. At that point, the TX2 pixels willhave fully integrated the P2 pulse and the TX1 pixels will not haveintegrated. When the P1 light pulse occurs, it may be integrated by boththe TX1 and the TX2 pixels. Therefore, at the end of the sequence, theTX1 pixels will have a net photo charge resulting from only the P1 lightpulses whereas the TX2 pixels will have integrated both light pulses.

FIG. 16B is a similar timing diagram for an alternative dualillumination embodiment. In the embodiment illustrated in FIG. 16B, asingle light pulse is emitted during the period both TX transistors areturned off. The integrated light may be proportional to the time betweenthe TX falling edge and the light pulse falling edge. Therefore,different pixel responses may be achieved by staggering the GlobalTX1and GlobalTX2 falling edges. In the example illustrated in FIG. 16B, theTX1 pixels integrate ˜⅓ of the light generated by the light pulse andthe TX2 pixels integrate ˜⅔ of the total pulse energy.

In a further embodiment, dual illumination can be achieved by employinga mixture of the timing embodiments illustrated in FIGS. 16A and 16B.The GlobalTX2 signal would return to its low state before the risingedge of the single light pulse. This causes the TX2 pixels to integratethe whole energy of the light pulse.

FIG. 17 illustrates the internal timing of an embodiment of a minimalarea custom image sensor. The timing may be implemented for the purposeof endoscopic imaging in the presence of controlled, pulsedillumination. Each frame period may comprise four distinct phases, whichmay be optimized for monochrome light pulsing and multiple pixelilluminations.

During phase 1 and phase 3, data may be issued from the image sensor.The data issued from the image sensor may not be signal samples fromphysical pixels but instead may be data concerned with thesynchronization of the chip to the camera system and for data locking.These “service line” periods may also be used for internal monitoringand external monitoring, and further for encoding certain types ofnon-pixel data within the line. Internal monitoring may include thesensor temperature, certain voltages, currents, and so forth. Externalmonitoring may include hand-piece button activity or, e.g., data frommeasurements of the angle of the endoscope. Phase 2 may be concernedwith the sensor rolling readout (internal timing and synchronization)while phase 4 may be for the purpose of sensor configuration. During theconfiguration phase, the sensor output data lines may be reversed toaccept incoming configuration commands. Therefore, the camera controllermay be synchronized to the phase 4 period. Phase 4 also doubles as theglobal shutter phase. For this reason, phase 4 may be also synchronizedwith the light pulsing system.

Note that the pulse widths and timing of the global signals (GlobalTX1,GlobalTX2 and GlobalRST) may be fully programmable such that phase 4 isthe only phase with variable length. This enables the available pulsetime to be tuned in order to match the available light power, given thetype of frame it is. Individual wavelength sources may varysignificantly with respect to maximum available light power, quantumefficiency, response time, and so forth.

FIG. 18 illustrates a timing diagram for a frame sequence. The timingdiagram may be applied for the exposure frame sequence illustrated inFIG. 9 and is based on a Y-Cb-Y-Cr (luminance, chrominance blue,luminance, chrominance red) pulsing pattern. Y is the luminancecomponent, Cb is the blue-difference chrominance component, and Cr isthe red-difference chrominance component. In an embodiment, all lightsources may be pulsed during the luminance frames (the first exposureframe 902 and the third exposure frame 906). The second exposure frame904 and the fourth exposure frame 908 are sensed in response to a singlewavelength pulse of a critically tuned admixture of luminance.

The frame sequence may further include pulsing for one or more of ahyperspectral exposure frame, a fluorescence exposure frame, a lasermapping exposure frame, and/or a tool tracking exposure frame. In anembodiment, a YCbCr image frame is generated based on the pulsing schemeillustrated in FIG. 18 , and one or more of a hyperspectral exposureframe, a fluorescence exposure frame, laser mapping data, and/or tooltracking data is overlaid on the YCbCr image frame. It should beappreciated that the additional exposure frame data may alternatively beoverlaid on an RGB image frame. Alternatively, the YCbCr image frame maybe combined with one or more of the hyperspectral exposure frame or thefluorescence exposure frame such that a single image frame includesluminance data, chrominance data, and one or more of hyperspectral dataand fluorescence data.

FIG. 19 is a line graph illustrating an example system that incorporatesanalog gain, digital gain, and shutter time into determiningautoexposure for adjusting to an illumination scenario. Generally,digital cameras that experience randomly varying illumination scenariosincorporate a means of continually adjusting image sensor configurationsto ensure the best use of available dynamic range. This process isreferred to as autoexposure, and the example system illustrated in FIG.19 determines autoexposure configurations based on analog gain, digitalgain, and shutter speed.

The autoexposure line graph illustrated in FIG. 19 may be applied tovideo cameras and still cameras deployed in a varying illuminationenvironment. Alternatively, the systems disclosed herein may be deployedin a light deficient environment in which the imaging system has fullcontrol over illumination of a scene. The imaging system may havecomplete control over the amount of pulsed red, pulsed green, pulsedblue, and pulsed fluorescence excitation illumination. The pulsedillumination may be altered for each exposure frame for continuous videocapture. The overall light pulse energy emitted by the imaging systemmay take the place of the shutter speed in terms of determining how muchlight energy is sensed by the image sensor.

Because more photo signal results in higher signal to noise ratio, thelight energy may be increased until the desired digital signal level isreached within the Image Signal Processor (ISP). The analog gain may beheld at its minimum setting which can be considered to be the gain atwhich the bottom of the distribution of pixel signal capacity is abovethe upper rail of the analog to digital converter. The maximum lightpulse energy may be limited by the duration of the available portion ofthe exposure frame and by the maximum electromagnetic energy provided.For the R-G-B-G pulse sequence case, the best overall signal to noiseratio may be obtained by monitoring and controlling the three frametypes independently and attenuating two of the colors digitally in theISP for white balance purposes.

FIG. 20 is a schematic diagram illustrating how statistics for widedynamic range (WDR) may be gathered independently for short exposurepixels and for long exposure pixels of a pixel array. The WDR statisticsmay captured and analyzed independently for red, green, blue, andfluorescence exposure frames.

FIG. 20 illustrates two corresponding histograms of black-correctedsignal for a region of an exposure frame. One of the histograms may beused, as mentioned earlier, to control the pulse energy level bycomparing a chosen percentile (P_(L)) of the distribution to a targetsignal level (S_(L), e.g. 50% of the digital dynamic range). Theexposure time of these type-1 pixels, T_(L), may be held at maximum. Thesubscript L here denotes the long exposure. The other histogram may beused to monitor the dynamic range of the scene by comparing anotherchosen percentile of the distribution, P_(S), where P_(S)>P_(L), andcomparing that with a different signal level, S_(S), where S_(S)>S_(L).The subscript S denotes the short exposure. S_(S) may be generally tunedclose to the top of the digital dynamic range. If P_(S)≤S_(S), theexposure time for these type-2 pixels, T_(S), may be also held atmaximum. If P_(S)>S_(S), then T_(S) may be lowered until P_(S)=S_(S).There may be a predefined limit (E) as to how much the exposure timeratio may be allowed to increase to ensure that image qualitydegradation due to dynamic range enhancement outweighs the benefit ofenhancing the dynamic range. The values of P_(L), P_(S), S_(L), S_(S)and E may be tuned differently according to different applications andstored as factory presets. The exposure times T_(L) and T_(S) may berecorded for each exposure frame type, for use by the wide dynamic rangefusion process and by the color fusion ISP stage. In the case that thered, green, blue, and fluorescence excitation pulse energies aremodulated for the purpose of white balance, the exposure times on thered and blue frames may be governed by the green frames which may beexclusively used to gather the wide dynamic range statistics.

In an implementation in which the imaging system is pulsing forluminance and chrominance illumination to generate a YCbCr image frame,the relative pulse energies may be held constant for a particular typeof exposure frame. The wide dynamic range control may be applied for theluminance frames as a baseline with the option of also applying widedynamic range independently on the chrominance frames. The histogramsmay be constructed on the raw black-corrected frame data as for theR-G-B-G scheme. Again, the exposure times for each frame type may berecorded for wide dynamic range fusion and for color fusion.

FIG. 21 is a schematic diagram of a process flow 2100 to be implementedby a controller and/or monochrome image signal processor (ISP) forgenerating a video stream having RGB images with fluorescence dataoverlaid thereon. The process flow 2100 results in images havingincreased dynamic range. The image signal processor (ISP) chain may beassembled for the purpose of generating sRGB image sequences from rawsensor data, yielded in the presence of the G-R-G-B-Fluorescence lightpulsing scheme. In the process flow 2100, the first stage is concernedwith making corrections to account for any non-idealities in the sensortechnology for which it is most appropriate to work in the raw datadomain. At the next stage, multiple frames (for example, a green frame2112 a, a red-blue frame 2112 b, and a fluorescence frame 2112 c) arebuffered because each final frame derives data from multiple raw frames.The frame reconstruction at 2114 proceeds by sampling data from acurrent frame and buffered frames (see 2112 a, 2112 b, and/or 2112 c).The reconstruction process results in full color frames in linear RGBcolor space that include fluorescence image data.

In an embodiment, the process flow 2100 is applied to checkerboardreadings from a pixel array (see FIGS. 8-11 ). The checkerboard readingsmay be sensed in response to an R-G-B-G-Fluorescence orY-Cb-Y-Cr-Fluorescence pulsing scheme. The process flow 2100 includesreceiving data from an image sensor at 2102. Sensor correctioncalculations are performed at 2104. These sensor correction calculationscan be used to determine statistics at 2106 such as autoexposuresettings and wide dynamic range settings. The process flow 2100continues and wide dynamic range fusion is processed at 2108. Widedynamic range compression is processed at 2110. The wide dynamic rangecompression from 2110 can be fed to generate a green frame 2112 a, ared-blue frame 2112, and/or a fluorescence frame 2112 c. The processflow 2100 continues and frame reconstruction is processed at 2114 andthen color correction is processed at 2116. The process flow 2100continues and an RGB (red-green-blue) image is converted to a YCbCrimage at 2118. Edge enhancement is processed at 2120 and then the YCbCrimage is converted back to an RGB image at 2122. Scalars are processedat 2124 and gamma is processed at 2126. The video is then exported at2128.

In an embodiment, the wide dynamic range fusion at 2108 is executedafter dark frame subtraction such that the mean black offset has beenadjusted to zero. In an embodiment, the aim of the wide dynamic rangefusion 2108 is to combine data from two or more separate exposure framesinto a single image frame prior to color fusion. This may beaccomplished by separating the short exposure and long exposurecomponents of the checkerboard pattern into separate buffers and fillingin the gaps by interpolation. There may be only one general kernelrequired because every empty pixel sees the same local environmentexcept for pixels near the edges of the image. A suitable convolutionkernel for filling in the checkerboard pattern by simple linearinterpolation is:

$\quad\begin{pmatrix}0 & \frac{1}{4} & 0 \\\frac{1}{4} & 0 & \frac{1}{4} \\0 & \frac{1}{4} & 0\end{pmatrix}$

Following interpolation there may be two samples for each pixellocation. FIG. 22 is a line graph illustrating the illuminance-signalrelationships for an exposure ratio of four that yields 12 dB ofadditional dynamic range. A gain may be applied to the short exposuresample which may be equal to the exposure-time ratio, T_(L)/T_(S). Thisrequires the addition of one extra bit for each factor two of ratio. Thefusion itself involves making a weighted sum of the two samples asfollows:

$x_{f} = {{\gamma \cdot \left( \frac{T_{L}}{T_{S}} \right) \cdot x_{S}} + {\left( {1 - \gamma} \right)x_{L}}}$

Where x_(S) and x_(L) may be the short exposure signals and the longexposure signals, respectively. The γ factor may be a function of thelong exposure signal, x_(L), and may be set according to two thresholds,τ₁ and τ₂. Below x_(L)=τ₁, γ=0.0, above γ=τ₂, γ=1.0. Between thethresholds, various functional forms may be employed. See FIG. 23 inwhich linear and cubic example behaviors of γ between τ₁ and τ₂, may bedrawn. The value of τ₂ may be set to the maximum possible value of x_(L)or something just below it. The purpose of the lower threshold, τ₁, isto limit the influence of read noise from the short sample which has thegain factor T_(L)/T_(S) applied. It can be set to a conservatively highconstant to accommodate the maximum ratio E, but it may be morebeneficial to have it vary linearly with T_(L)/T_(S) as follows:

$\tau_{1} = {\left( \frac{T_{L}}{T_{S}} \right) \cdot \eta}$

Following the stitching process, the image data occupies a greaternumber of bits of digital dynamic range than the original long exposureand short exposure samples. Therefore, the bit count of the image sensorneeds to reduced back to the ISP pipeline width prior to the next stage.If the ISP pipeline width is n bits, the fused image has m bits where(m−n) is the base-2 logarithm of the exposure time ratio rounded up tothe next integer. The data may be first linearly scaled such that themaximum possible value maps to exactly 2^(m)−1. This can be accomplishedby provision of a lookup table of multipliers for the set of allowedexposure time ratios that lie between one and two to get to the nextexact power of two. This approach assumes the progression of allowedexposure time ratios within each power of 2-interval is consistent. Toreturn to n bits, a piece-wise linear transfer function may be appliedwhich emphasizes the data at the low end. This is illustrated in FIG. 24. This prevents interesting information at the low end being lostthrough compression. Alternatively, a smooth logarithmic transferfunction can be applied to the data using a predefined lookup table. Inthis embodiment, the lookup table needs to have sufficient entries tocover the maximum fused linear bit count (m_(max)). The fused data,already scaled to an exact power of two is further up-shifted to m_(max)bits before applying the LUT.

A simpler embodiment for fusion and compression is to divide the finaldynamic range into two sections. Example sections may include the bottom60% and the top 40%. The two sections are mapped to the long exposuresamples and the short exposure samples respectively. In the inputdomain, the crossover occurs at the maximum value of x_(L). This isillustrated in FIG. 25 .

The provision of two or more exposure periods within the same framewithin a pulsed illumination endoscopy system may be exploited for thepurpose of reducing the number of captured frames per final full colorimage from three to two. This enables the benefit of suppressing colormotion artifacts associated with the imaging system.

One property of the monochrome wide dynamic range pixel array is thatpixels with a long integration time may integrate a superset of thelight seen by the short integration time pixels. For regular widedynamic range operation in the luminance frames, this may be desirable.For the chrominance frames it means that the pulsing may be controlledin conjunction with the exposure periods so as to provide λY+Cb from thestart of the long exposure and switch to δY+Cr at the point that theshort pixels may be turned on. A and 6 may be two tunable factors thatmay be used to bring all pulse energies to positive values.

During color reconstruction in the ISP, the short exposure pixels andthe long exposure pixels may be separated into two buffers. The emptypixels may be filled in using linear interpolation. At this point, onebuffer includes a full image of δY+Cr data and another buffer includesδY+Cr+λY+Cb. The δY+Cr buffer may be subtracted from the δY+Cr+λY+Cbbuffer to give λY+Cb. The appropriate proportion of luminance data fromthe Y frames may be subtracted out for each.

FIG. 26 is a schematic diagram of a pattern reconstruction process. Theexample pattern illustrated in FIG. 26 includes red, green, blue, andfluorescence excitation pulses of light that each last a duration of T1.In various embodiments, the pulses of light may be of the same durationor of differing durations. The red, green, blue, and fluorescenceexposure frames are combined to generate an RGB image with fluorescenceexcitation data overlaid thereon. A single image frame comprising a redexposure frame, a green exposure frame, a blue exposure frame, and afluorescence excitation exposure frame requires a time period of 4*T1 tobe generated. The time durations shown in FIG. 26 are illustrative onlyand may vary for different implementations. In other embodiments,different pulsing schemes may be employed. For example, embodiments maybe based on the timing of each color component or frame (T1) and thereconstructed frame having a period twice that of the incoming colorframe (2×T1). Different frames within the sequence may have differentframe periods and the average capture rate could be any multiple of thefinal frame rate.

In an embodiment, the dynamic range of the system is increased byvarying the pixel sensitivities of pixels within the pixel array of theimage sensor. Some pixels may sense reflected electromagnetic radiationat a first sensitivity level, other pixels may sense reflectedelectromagnetic radiation at a second sensitivity level, and so forth.The different pixel sensitivities may be combined to increase thedynamic range provided by the pixel configuration of the image sensor.In an embodiment, adjacent pixels are set at different sensitivitiessuch that each cycle includes data produced by pixels that are more andless sensitive with respect to each other. The dynamic range isincreased when a plurality of sensitivities are recorded in a singlecycle of the pixel array. In an embodiment, wide dynamic range can beachieved by having multiple global TX, each TX firing only on adifferent set of pixels. For example, in global mode, a global TX1signal is firing a set 1 of pixels, a global TX2 signal is firing a set2 of pixel, a global TXn signal is firing a set n of pixels, and soforth.

FIGS. 27A-27C each illustrate a light source 2700 having a plurality ofemitters. The emitters include a first emitter 2702, a second emitter2704, and a third emitter 2706. Additional emitters may be included, asdiscussed further below. The emitters 2702, 2704, and 2706 may includeone or more laser emitters that emit light having different wavelengths.For example, the first emitter 2702 may emit a wavelength that isconsistent with a blue laser, the second emitter 2704 may emit awavelength that is consistent with a green laser, and the third emitter2706 may emit a wavelength that is consistent with a red laser. Forexample, the first emitter 2702 may include one or more blue lasers, thesecond emitter 2704 may include one or more green lasers, and the thirdemitter 2706 may include one or more red lasers. The emitters 2702,2704, 2706 emit laser beams toward a collection region 2708, which maybe the location of a waveguide, lens, or other optical component forcollecting and/or providing light to a waveguide, such as the jumperwaveguide 206 or lumen waveguide 210 of FIG. 2 .

In an implementation, the emitters 2702, 2704, and 2706 emitfluorescence excitation wavelengths of electromagnetic radiation thatmay be selected for fluorescing one or more fluorescent reagents. Therelaxation wavelengths of the one or more fluorescent reagents may besensed by a pixel array to identify the locations of the one or morefluorescent reagents within the scene.

In an implementation where a patient has been administered a reagent ordye to aid in the identification of certain tissues, structures,chemical reactions, biological processes, and so forth, the emitters2702, 2704, and 2706 may emit wavelength(s) for fluorescing the reagentsor dyes. Such wavelength(s) may be determined based on the reagents ordyes administered to the patient. In such an embodiment, the emittersmay need to be highly precise for emitting desired wavelength(s) tofluoresce or activate certain reagents or dyes.

In an implementation, the emitters 2702, 2704, and 2706 emit a laserscanning pattern for mapping a topology of a scene and/or forcalculating dimensions and distances between objects in the scene. In anembodiment, the endoscopic imaging system is used in conjunction withmultiple tools such as scalpels, retractors, forceps, and so forth. Insuch an embodiment, each of the emitters 2702, 2704, and 2706 may emit alaser scanning pattern such that a laser scanning pattern is projectedon to each tool individually. In such an embodiment, the laser scanningdata for each of the tools can be analyzed to identify distances betweenthe tools and other objects in the scene.

In the embodiment of FIG. 27B, the emitters 2702, 2704, 2706 eachdeliver laser light to the collection region 2708 at different angles.The variation in angle can lead to variations where electromagneticenergy is located in an output waveguide. For example, if the lightpasses immediately into a fiber bundle (glass or plastic) at thecollection region 2708, the varying angles may cause different amountsof light to enter different fibers. For example, the angle may result inintensity variations across the collection region 2708. Furthermore,light from the different emitters may not be homogenously mixed so somefibers may receive different amounts of light of different colors.Variation in the color or intensity of light in different fibers canlead to non-optimal illumination of a scene. For example, variations indelivered light or light intensities may result at the scene andcaptured images.

In one embodiment, an intervening optical element may be placed betweena fiber bundle and the emitters 2702, 2704, 2706 to mix the differentcolors (wavelengths) of light before entry into the fibers or otherwaveguide. Example intervening optical elements include a diffuser,mixing rod, one or more lenses, or other optical components that mix thelight so that a given fiber receive a same amount of each color(wavelength). For example, each fiber in the fiber bundle may have asame color. This mixing may lead to the same color in each fiber butmay, in some embodiments, still result in different total brightnessdelivered to different fibers. In one embodiment, the interveningoptical element may also spread out or even out the light over thecollection region so that each fiber carries the same total amount oflight (e.g., the light may be spread out in a top hat profile). Adiffuser or mixing rod may lead to loss of light.

Although the collection region 2708 is represented as a physicalcomponent in FIG. 27A, the collection region 2708 may simply be a regionwhere light from the emitters 2702, 2704, and 2706 is delivered. In somecases, the collection region 2708 may include an optical component suchas a diffuser, mixing rod, lens, or any other intervening opticalcomponent between the emitters 2702, 2704, 2706 and an output waveguide.

FIG. 27C illustrates an embodiment of a light source 2700 with emitters2702, 2704, 2706 that provide light to the collection region 2708 at thesame or substantially same angle. The light is provided at an anglesubstantially perpendicular to the collection region 2708. The lightsource 2700 includes a plurality of dichroic mirrors including a firstdichroic mirror 2710, a second dichroic mirror 2712, and a thirddichroic mirror 2714. The dichroic mirrors 2710, 2712, 2714 includemirrors that reflect a first wavelength of light but transmit (or aretransparent to) a second wavelength of light. For example, the thirddichroic mirror 2714 may reflect blue laser light provided by the thirdemitter, while being transparent to the red and green light provided bythe first emitter 2702 and the second emitter 2704, respectively. Thesecond dichroic mirror 2712 may be transparent to red light from thefirst emitter 2702, but reflective to green light from the secondemitter 2704. If other colors or wavelengths are included dichroicmirrors may be selected to reflect light corresponding to at least oneemitter and be transparent to other emitters. For example, the thirddichroic mirror 2714 reflect the light form the third emitter 2706 butis to emitters “behind” it, such as the first emitter 2702 and thesecond emitter 2704. In embodiments where tens or hundreds of emittersare present, each dichroic mirror may be reflective to a correspondingemitter and emitters in front of it while being transparent to emittersbehind it. This may allow for tens or hundreds of emitters to emitelectromagnetic energy to the collection region 2708 at a substantiallysame angle.

Because the dichroic mirrors allow other wavelengths to transmit or passthrough, each of the wavelengths may arrive at the collection region2708 from a same angle and/or with the same center or focal point.Providing light from the same angle and/or same focal/center point cansignificantly improve reception and color mixing at the collectionregion 2708. For example, a specific fiber may receive the differentcolors in the same proportions they were transmitted/reflected by theemitters 2702, 2704, 2706 and mirrors 2710, 2712, 2714. Light mixing maybe significantly improved at the collection region compared to theembodiment of FIG. 27B. In one embodiment, any optical componentsdiscussed herein may be used at the collection region 2708 to collectlight prior to providing it to a fiber or fiber bundle.

FIG. 27C illustrates an embodiment of a light source 2700 with emitters2702, 2704, 2706 that also provide light to the collection region 2708at the same or substantially same angle. However, the light incident onthe collection region 2708 is offset from being perpendicular. Angle2716 indicates the angle offset from perpendicular. In one embodiment,the laser emitters 2702, 2704, 2706 may have cross sectional intensityprofiles that are Gaussian. As discussed previously, improveddistribution of light energy between fibers may be accomplished bycreating a more flat or top-hat shaped intensity profile. In oneembodiment, as the angle 2716 is increased, the intensity across thecollection region 2708 approaches a top hat profile. For example, atop-hat profile may be approximated even with a non-flat output beam byincreasing the angle 2716 until the profile is sufficiently flat. Thetop hat profile may also be accomplished using one or more lenses,diffusers, mixing rods, or any other intervening optical componentbetween the emitters 2702, 2704, 2706 and an output waveguide, fiber, orfiber optic bundle.

FIG. 28 is a schematic diagram illustrating a single optical fiber 2802outputting via a diffuser 2804 at an output. In one embodiment, theoptical fiber 2802 has a diameter of 500 microns, a numerical apertureof 0.65, and emits a light cone 2806 of about 70 or 80 degrees without adiffuser 2804. With the diffuser 2804, the light cone 2806 may have anangle of about 110 or 120 degrees. The light cone 2806 may be a majorityof where all light goes and is evenly distributed. The diffuser 2804 mayallow for more even distribution of electromagnetic energy of a sceneobserved by an image sensor.

In one embodiment, the lumen waveguide 210 includes a single plastic orglass optical fiber of about 500 microns. The plastic fiber may be lowcost, but the width may allow the fiber to carry a sufficient amount oflight to a scene, with coupling, diffusion, or other losses. Forexample, smaller fibers may not be able to carry as much light or poweras a larger fiber. The lumen waveguide 210 may include a single or aplurality of optical fibers. The lumen waveguide 210 may receive lightdirectly from the light source or via a jumper waveguide. A diffuser maybe used to broaden the light output 206 for a desired field of view ofthe image sensor 214 or other optical components.

Although three emitters are shown in FIGS. 27A-27C, emitters numberingfrom one into the hundreds or more may be used in some embodiments. Theemitters may have different wavelengths or spectrums of light that theyemit, and which may be used to contiguously cover a desired portion ofthe electromagnetic spectrum (e.g., the visible spectrum as well asinfrared and ultraviolet spectrums). The emitters may be configured toemit visible light such as red light, green light, and blue light, andmay further be configured to emit hyperspectral emissions ofelectromagnetic radiation, fluorescence excitation wavelengths forfluorescing a reagent, and/or laser mapping patterns for calculatingparameters and distances between objects in a scene.

FIG. 29 illustrates a portion of the electromagnetic spectrum 2900divided into twenty different sub-spectrums. The number of sub-spectrumsis illustrative only. In at least one embodiment, the spectrum 2900 maybe divided into hundreds of sub-spectrums, each with a small waveband.The spectrum may extend from the infrared spectrum 2902, through thevisible spectrum 2904, and into the ultraviolet spectrum 2906. Thesub-spectrums each have a waveband 2908 that covers a portion of thespectrum 2900. Each waveband may be defined by an upper wavelength and alower wavelength.

Hyperspectral imaging incudes imaging information from across theelectromagnetic spectrum 2900. A hyperspectral pulse of electromagneticradiation may include a plurality of sub-pulses spanning one or moreportions of the electromagnetic spectrum 2900 or the entirety of theelectromagnetic spectrum 2900. A hyperspectral pulse of electromagneticradiation may include a single partition of wavelengths ofelectromagnetic radiation. A resulting hyperspectral exposure frameincludes information sensed by the pixel array subsequent to ahyperspectral pulse of electromagnetic radiation. Therefore, ahyperspectral exposure frame may include data for any suitable partitionof the electromagnetic spectrum 2900 and may include multiple exposureframes for multiple partitions of the electromagnetic spectrum 2900. Inan embodiment, a hyperspectral exposure frame includes multiplehyperspectral exposure frames such that the combined hyperspectralexposure frame comprises data for the entirety of the electromagneticspectrum 2900.

In one embodiment, at least one emitter (such as a laser emitter) isincluded in a light source (such as the light sources 202, 3000) foreach sub-spectrum to provide complete and contiguous coverage of thewhole spectrum 2900. For example, a light source for providing coverageof the illustrated sub-spectrums may include at least 20 differentemitters, at least one for each sub-spectrum. In one embodiment, eachemitter covers a spectrum covering 40 nanometers. For example, oneemitter may emit light within a waveband from 500 nm to 540 nm whileanother emitter may emit light within a waveband from 540 nm to 580 nm.In another embodiment, emitters may cover other sizes of wavebands,depending on the types of emitters available or the imaging needs. Forexample, a plurality of emitters may include a first emitter that coversa waveband from 500 to 540 nm, a second emitter that covers a wavebandfrom 540 nm to 640 nm, and a third emitter that covers a waveband from640 nm to 650 nm. Each emitter may cover a different slice of theelectromagnetic spectrum ranging from far infrared, mid infrared, nearinfrared, visible light, near ultraviolet and/or extreme ultraviolet. Insome cases, a plurality of emitters of the same type or wavelength maybe included to provide sufficient output power for imaging. The numberof emitters needed for a specific waveband may depend on the sensitivityof a monochrome sensor to the waveband and/or the power outputcapability of emitters in that waveband.

The waveband widths and coverage provided by the emitters may beselected to provide any desired combination of spectrums. For example,contiguous coverage of a spectrum using very small waveband widths(e.g., 10 nm or less) may allow for highly selective hyperspectraland/or fluorescence imaging. The waveband widths may allow forselectively emitting the excitation wavelength(s) for one or moreparticular fluorescent reagents. Additionally, the waveband widths mayallow for selectively emitting certain partitions of hyperspectralelectromagnetic radiation for identifying specific structures, chemicalprocesses, tissues, biological processes, and so forth. Because thewavelengths come from emitters which can be selectively activated,extreme flexibility for fluorescing one or more specific fluorescentreagents during an examination can be achieved. Additionally, extremeflexibility for identifying one or more objects or processes by way ofhyperspectral imaging can be achieved. Thus, much more fluorescenceand/or hyperspectral information may be achieved in less time and withina single examination which would have required multiple examinations,delays because of the administration of dyes or stains, or the like.

FIG. 30 is a schematic diagram illustrating a timing diagram 3000 foremission and readout for generating an image. The solid line representsreadout (peaks 3002) and blanking periods (valleys) for capturing aseries of exposure frames 3004-3014. The series of exposure frames3004-3014 may include a repeating series of exposure frames which may beused for generating laser scanning, hyperspectral, and/or fluorescencedata that may be overlaid on an RGB video stream. In an embodiment, asingle image frame comprises information from multiple exposure frames,wherein one exposure frame includes red image data, another exposureframe includes green image data, and another exposure frame includesblue image data. Additionally, the single image frame may include one ormore of hyperspectral image data, fluorescence image data, and laserscanning data. The multiple exposure frames are combined to produce thesingle image frame. The single image frame is an RGB image withhyperspectral imaging data. The series of exposure frames include afirst exposure frame 3004, a second exposure frame 3006, a thirdexposure frame 3008, a fourth exposure frame 3010, a fifth exposureframe 3012, and an Nth exposure frame 3026.

Additionally, the hyperspectral image data, the fluorescence image data,and the laser scanning data can be used in combination to identifycritical tissues or structures and further to measure the dimensions ofthose critical tissues or structures. For example, the hyperspectralimage data may be provided to a corresponding system to identify certaincritical structures in a body such as a nerve, ureter, blood vessel,cancerous tissue, and so forth. The location and identification of thecritical structures may be received from the corresponding system andmay further be used to generate topology of the critical structuresusing the laser scanning data. For example, a corresponding systemdetermines the location of a cancerous tumor based on hyperspectralimaging data. Because the location of the cancerous tumor is known basedon the hyperspectral imaging data, the topology and distances of thecancerous tumor may then be calculated based on laser scanning data.This example may also apply when a cancerous tumor or other structure isidentified based on fluorescence imaging data.

In one embodiment, each exposure frame is generated based on at leastone pulse of electromagnetic energy. The pulse of electromagnetic energyis reflected and detected by an image sensor and then read out in asubsequent readout (3002). Thus, each blanking period and readoutresults in an exposure frame for a specific spectrum of electromagneticenergy. For example, the first exposure frame 3004 may be generatedbased on a spectrum of a first one or more pulses 3016, a secondexposure frame 3006 may be generated based on a spectrum of a second oneor more pulses 3018, a third exposure frame 3008 may be generated basedon a spectrum of a third one or more pulses 3020, a fourth exposureframe 3010 may be generated based on a spectrum of a fourth one or morepulses 3022, a fifth exposure frame 3012 may be generated based on aspectrum of a fifth one or more pulses 3024, and an Nth exposure frame3026 may be generated based on a spectrum of an Nth one or more pulses3026.

The pulses 3016-3026 may include energy from a single emitter or from acombination of two or more emitters. For example, the spectrum includedin a single readout period or within the plurality of exposure frames3004-3014 may be selected for a desired examination or detection of aspecific tissue or condition. According to one embodiment, one or morepulses may include visible spectrum light for generating an RGB or blackand white image while one or more additional pulses are emitted to sensea spectral response to a hyperspectral wavelength of electromagneticradiation. For example, pulse 3016 may include red light, pulse 3018 mayinclude blue light, and pulse 3020 may include green light while theremaining pulses 3022-3026 may include wavelengths and spectrums fordetecting a specific tissue type, fluorescing a reagent, and/or mappingthe topology of the scene. As a further example, pulses for a singlereadout period include a spectrum generated from multiple differentemitters (e.g., different slices of the electromagnetic spectrum) thatcan be used to detect a specific tissue type. For example, if thecombination of wavelengths results in a pixel having a value exceedingor falling below a threshold, that pixel may be classified ascorresponding to a specific type of tissue. Each frame may be used tofurther narrow the type of tissue that is present at that pixel (e.g.,and each pixel in the image) to provide a very specific classificationof the tissue and/or a state of the tissue (diseased/healthy) based on aspectral response of the tissue and/or whether a fluorescent reagent ispresent at the tissue.

The plurality of frames 3004-3014 is shown having varying lengths inreadout periods and pulses having different lengths or intensities. Theblanking period, pulse length or intensity, or the like may be selectedbased on the sensitivity of a monochromatic sensor to the specificwavelength, the power output capability of the emitter(s), and/or thecarrying capacity of the waveguide.

In one embodiment, dual image sensors may be used to obtainthree-dimensional images or video feeds. A three-dimensional examinationmay allow for improved understanding of a three-dimensional structure ofthe examined region as well as a mapping of the different tissue ormaterial types within the region.

In an example implementation, a fluorescent reagent is provided to apatient, and the fluorescent reagent is configured to adhere tocancerous cells. The fluorescent reagent is known to fluoresce whenradiated with a specific partition of electromagnetic radiation. Therelaxation wavelength of the fluorescent reagent is also known. In theexample implementation, the patient is imaged with an endoscopic imagingsystem as discussed herein. The endoscopic imaging system pulsespartitions of red, green, and blue wavelengths of light to generate anRGB video stream of the interior of the patient's body. Additionally,the endoscopic imaging system pulses the excitation wavelength ofelectromagnetic radiation for the fluorescent reagent that wasadministered to the patient. In the example, the patient has cancerouscells and the fluorescent reagent has adhered to the cancerous cells.When the endoscopic imaging system pulses the excitation wavelength forthe fluorescent reagent, the fluorescent reagent will fluoresce and emita relaxation wavelength. If the cancerous cells are present in the scenebeing imaged by the endoscopic imaging system, then the fluorescentreagent will also be present in the scene and will emit its relaxationwavelength after fluorescing due to the emission of the excitationwavelength. The endoscopic imaging system senses the relaxationwavelength of the fluorescent reagent and thereby senses the presence ofthe fluorescent reagent in the scene. Because the fluorescent reagent isknown to adhere to cancerous cells, the presence of the fluorescentreagent further indicates the presence of cancerous cells within thescene. The endoscopic imaging system thereby identifies the location ofcancerous cells within the scene. The endoscopic imaging system mayfurther emit a laser scanning pulsing scheme for generating a topologyof the scene and calculating dimensions for objects within the scene.The location of the cancerous cells (as identified by the fluorescenceimaging data) may be combined with the topology and dimensionsinformation calculated based on the laser scanning data. Therefore, theprecise location, size, dimensions, and topology of the cancerous cellsmay be identified. This information may be provided to a medicalpractitioner to aid in excising the cancerous cells. Additionally, thisinformation may be provided to a robotic surgical system to enable thesurgical system to excise the cancerous cells.

In a further example implementation, a patient is imaged with anendoscopic imaging system to identify quantitative diagnosticinformation about the patient's tissue pathology. In the example, thepatient is suspected or known to suffer from a disease that can betracked with hyperspectral imaging to observe the progression of thedisease in the patient's tissue. The endoscopic imaging system pulsespartitions of red, green, and blue wavelengths of light to generate anRGB video stream of the interior of the patient's body. Additionally,the endoscopic imaging system pulses one or more hyperspectralwavelengths of light that permit the system to “see through” sometissues and generate imaging of the tissue that is affected by thedisease. The endoscopic imaging system senses the reflectedhyperspectral electromagnetic radiation to generate hyperspectralimaging data of the diseased tissue, and thereby identifies the locationof the diseased tissue within the patient's body. The endoscopic imagingsystem may further emit a laser scanning pulsing scheme for generating atopology of the scene and calculating dimensions of objects within thescene. The location of the diseased tissue (as identified by thehyperspectral imaging data) may be combined with the topology anddimensions information that is calculated with the laser scanning data.Therefore, the precise location, size, dimensions, and topology of thediseased tissue can be identified. This information may be provided to amedical practitioner to aid in excising, imaging, or studying thediseased tissue. Additionally, this information may be provided to arobotic surgical system to enable the surgical system to excise thediseased tissue.

FIG. 31 is a schematic diagram of an imaging system 3100 having a singlecut filter. The system 3100 includes an endoscope 3106 or other suitableimaging device having a light source 3108 for use in a light deficientenvironment. The endoscope 3106 includes an image sensor 3104 and afilter 3102 for filtering out unwanted wavelengths of light or otherelectromagnetic radiation before reaching the image sensor 3104. Thelight source 3108 transmits light that may illuminate the surface 3112in a light deficient environment such as a body cavity. The light 3110is reflected off the surface 3112 and passes through the filter 3102before hitting the image sensor 3104.

The filter 3102 may be used in an implementation where a fluorescentreagent or dye has been administered. In such an embodiment, the lightsource 3108 emits the excitation wavelength for fluorescing thefluorescent reagent or dye. Commonly, the relaxation wavelength emittedby the fluorescent reagent or dye will be of a different wavelength thanthe excitation wavelength. The filter 3102 may be selected to filter outthe excitation wavelength and permit only the relaxation wavelength topass through the filter and be sensed by the image sensor 3104.

In one embodiment, the filter 3102 is configured to filter out anexcitation wavelength of electromagnetic radiation that causes a reagentor dye to fluoresce such that only the expected relaxation wavelength ofthe fluoresced reagent or dye is permitted to pass through the filter3102 and reach the image sensor 3104. In an embodiment, the filter 3102filters out at least a fluorescent reagent excitation wavelength between770 nm and 790 nm. In an embodiment, the filter 3102 filters out atleast a fluorescent reagent excitation wavelength between 795 nm and 815nm. In an embodiment, the filter 3102 filters out at least a fluorescentreagent excitation wavelength between 770 nm and 790 nm and between 795nm and 815 nm. In these embodiments, the filter 3102 filters out theexcitation wavelength of the reagent and permits only the relaxationwavelength of the fluoresced reagent to be read by the image sensor3104. The image sensor 3104 may be a wavelength-agnostic image sensorand the filter 3102 may be configured to permit the image sensor 3104 toonly receive the relaxation wavelength of the fluoresced reagent and notreceive the emitted excitation wavelength for the reagent. The datadetermined by the image sensor 3104 may then indicate a presence of acritical body structure, tissue, biological process, or chemical processas determined by a location of the reagent or dye.

The filter 3102 may further be used in an implementation where afluorescent reagent or dye has not been administered. The filter 3102may be selected to permit wavelengths corresponding to a desiredspectral response to pass through and be read by the image sensor 3104.The image sensor 3104 may be a monochromatic image sensor such thatpixels of the captured image that exceed a threshold or fall below athreshold may be characterized as corresponding to a certain spectralresponse or fluorescence emission. The spectral response or fluorescenceemission, as determined by the pixels captured by the image sensor 3104,may indicate the presence of a certain body tissue or structure, acertain condition, a certain chemical process, and so forth.

FIG. 32 is a schematic diagram of an imaging system 3200 having multiplecut filters. The system 3200 includes an endoscope 3206 or othersuitable imaging device having a light source 3208 for use in a lightdeficient environment. The endoscope 3206 includes an image sensor 3204and two filters 3202 a, 3202 b. It should be appreciated that inalternative embodiments, the system 3200 may include any number offilters, and the number of filters and the type of filters may beselected for a certain purpose e.g., for gathering imaging informationof a particular body tissue, body condition, chemical process, and soforth. The filters 3202 a, 3202 b are configured for preventing unwantedwavelengths of light or other electromagnetic radiation from beingsensed by the image sensor 3204. The filters 3202 a, 3202 b may beconfigured to filter out unwanted wavelengths from white light or otherelectromagnetic radiation that may be emitted by the light source 3208.

Further to the disclosure with respect to FIG. 31 , the filters 3202 a,3202 b may be used in an implementation where a fluorescent reagent ordye has been administered. The filters 3202 a, 3202 b may be configuredfor blocking an emitted excitation wavelength for the reagent or dye andpermitting the image sensor 3204 to only read the relaxation wavelengthof the reagent or dye. Further, the filters 3202 a, 3202 b may be usedin an implementation where a fluorescent reagent or dye has not beenadministered. In such an implementation, the filters 3202 a, 3202 b maybe selected to permit wavelengths corresponding to a desired spectralresponse to pass through and be read by the image sensor 3204.

The multiple filters 3202 a, 3202 b may each be configured for filteringout a different range of wavelengths of the electromagnetic spectrum.For example, one filter may be configured for filtering out wavelengthslonger than a desired wavelength range and the additional filter may beconfigured for filtering out wavelengths shorter than the desiredwavelength range. The combination of the two or more filters may resultin only a certain wavelength or band of wavelengths being read by theimage sensor 3204.

In an embodiment, the filters 3202 a, 3202 b are customized such thatelectromagnetic radiation between 513 nm and 545 nm contacts the imagesensor 3204. In an embodiment, the filters 3202 a, 3202 b are customizedsuch that electromagnetic radiation between 565 nm and 585 nm contactsthe image sensor 3204. In an embodiment, the filters 3202 a, 3202 b arecustomized such that electromagnetic radiation between 900 nm and 1000nm contacts the image sensor 3204. In an embodiment, the filters 3202 a,3202 b are customized such that electromagnetic radiation between 425 nmand 475 nm contacts the image sensor 3204. In an embodiment, the filters3202 a, 3202 b are customized such that electromagnetic radiationbetween 520 nm and 545 nm contacts the image sensor 3204. In anembodiment, the filters 3202 a, 3202 b are customized such thatelectromagnetic radiation between 625 nm and 645 nm contacts the imagesensor 3204. In an embodiment, the filters 3202 a, 3202 b are customizedsuch that electromagnetic radiation between 760 nm and 795 nm contactsthe image sensor 3204. In an embodiment, the filters 3202 a, 3202 b arecustomized such that electromagnetic radiation between 795 nm and 815 nmcontacts the image sensor 3204. In an embodiment, the filters 3202 a,3202 b are customized such that electromagnetic radiation between 370 nmand 420 nm contacts the image sensor 3204. In an embodiment, the filters3202 a, 3202 b are customized such that electromagnetic radiationbetween 600 nm and 670 nm contacts the image sensor 3204. In anembodiment, the filters 3202 a, 3202 b are configured for permittingonly a certain fluorescence relaxation emission to pass through thefilters 3202 a, 3202 b and contact the image sensor 3204.

In an embodiment, the system 3200 includes multiple image sensors 3204and may particularly include two image sensors for use in generating athree-dimensional image. The image sensor(s) 3204 may becolor/wavelength agnostic and configured for reading any wavelength ofelectromagnetic radiation that is reflected off the surface 3212. In anembodiment, the image sensors 3204 are each color dependent orwavelength dependent and configured for reading electromagneticradiation of a particular wavelength that is reflected off the surface3212 and back to the image sensors 3204. Alternatively, the image sensor3204 may include a single image sensor with a plurality of differentpixel sensors configured for reading different wavelengths or colors oflight, such as a Bayer filter color filter array. Alternatively, theimage sensor 3204 may include one or more color agnostic image sensorsthat may be configured for reading different wavelengths ofelectromagnetic radiation according to a pulsing schedule such as thoseillustrated in FIGS. 5-7E and 15-16 , for example.

FIGS. 33A and 33B illustrate a perspective view and a side view,respectively, of an implementation of a monolithic sensor 3300 having aplurality of pixel arrays for producing a three-dimensional image inaccordance with the teachings and principles of the disclosure. Such animplementation may be desirable for three-dimensional image capture,wherein the two-pixel arrays 3302 and 3304 may be offset during use. Inanother implementation, a first pixel array 3302 and a second pixelarray 3304 may be dedicated to receiving a predetermined range of wavelengths of electromagnetic radiation, wherein the first pixel array isdedicated to a different range of wavelength electromagnetic radiationthan the second pixel array.

FIGS. 34A and 34B illustrate a perspective view and a side view,respectively, of an implementation of an imaging sensor 3400 built on aplurality of substrates. As illustrated, a plurality of pixel columns3404 forming the pixel array are located on the first substrate 3402 anda plurality of circuit columns 3408 are located on a second substrate3406. Also illustrated in the figure are the electrical connection andcommunication between one column of pixels to its associated orcorresponding column of circuitry. In one implementation, an imagesensor, which might otherwise be manufactured with its pixel array andsupporting circuitry on a single, monolithic substrate/chip, may havethe pixel array separated from all or a majority of the supportingcircuitry. The disclosure may use at least two substrates/chips, whichwill be stacked together using three-dimensional stacking technology.The first 3402 of the two substrates/chips may be processed using animage CMOS process. The first substrate/chip 3402 may be comprisedeither of a pixel array exclusively or a pixel array surrounded bylimited circuitry. The second or subsequent substrate/chip 3406 may beprocessed using any process and does not have to be from an image CMOSprocess. The second substrate/chip 3406 may be, but is not limited to, ahighly dense digital process to integrate a variety and number offunctions in a very limited space or area on the substrate/chip, or amixed-mode or analog process to integrate for example precise analogfunctions, or a RF process to implement wireless capability, or MEMS(Micro-Electro-Mechanical Systems) to integrate MEMS devices. The imageCMOS substrate/chip 3402 may be stacked with the second or subsequentsubstrate/chip 3406 using any three-dimensional technique. The secondsubstrate/chip 3406 may support most, or a majority, of the circuitrythat would have otherwise been implemented in the first image CMOS chip3402 (if implemented on a monolithic substrate/chip) as peripheralcircuits and therefore have increased the overall system area whilekeeping the pixel array size constant and optimized to the fullestextent possible. The electrical connection between the twosubstrates/chips may be done through interconnects, which may be wirebonds, bump and/or TSV (Through Silicon Via).

FIGS. 35A and 35B illustrate a perspective view and a side view,respectively, of an implementation of an imaging sensor 3500 having aplurality of pixel arrays for producing a three-dimensional image. Thethree-dimensional image sensor may be built on a plurality of substratesand may comprise the plurality of pixel arrays and other associatedcircuitry, wherein a plurality of pixel columns 3504 a forming the firstpixel array and a plurality of pixel columns 3504 b forming a secondpixel array are located on respective substrates 3502 a and 3502 b,respectively, and a plurality of circuit columns 3508 a and 3508 b arelocated on a separate substrate 3506. Also illustrated are theelectrical connections and communications between columns of pixels toassociated or corresponding column of circuitry.

The plurality of pixel arrays may sense information simultaneously andthe information from the plurality of pixel arrays may be combined togenerate a three-dimensional image. In an embodiment, an endoscopicimaging system includes two or more pixel arrays that can be deployed togenerate three-dimensional imaging. The endoscopic imaging system mayinclude an emitter for emitting pulses of electromagnetic radiationduring a blanking period of the pixel arrays. The pixel arrays may besynced such that the optical black pixels are read (i.e., the blankingperiod occurs) at the same time for the two or more pixel arrays. Theemitter may emit pulses of electromagnetic radiation for charging eachof the two or more pixel arrays. The two or more pixel arrays may readtheir respective charged pixels at the same time such that the readoutperiods for the two or more pixel arrays occur at the same time or atapproximately the same time. In an embodiment, the endoscopic imagingsystem includes multiple emitters that are each individual synced withone or more pixel arrays of a plurality of pixel arrays. Informationfrom a plurality of pixel arrays may be combined to generatethree-dimensional image frames and video streams.

It will be appreciated that the teachings and principles of thedisclosure may be used in a reusable device platform, a limited usedevice platform, a re-posable use device platform, or a singleuse/disposable device platform without departing from the scope of thedisclosure. It will be appreciated that in a re-usable device platforman end-user is responsible for cleaning and sterilization of the device.In a limited use device platform, the device can be used for somespecified amount of times before becoming inoperable. Typical new deviceis delivered sterile with additional uses requiring the end-user toclean and sterilize before additional uses. In a re-posable use deviceplatform, a third-party may reprocess the device (e.g., cleans, packagesand sterilizes) a single-use device for additional uses at a lower costthan a new unit. In a single use/disposable device platform a device isprovided sterile to the operating room and used only once before beingdisposed of.

EXAMPLES

The following examples pertain to preferred features of furtherembodiments:

Example 1 is a system for imaging in a light deficient environment. Thesystem includes an emitter for emitting pulses of electromagneticradiation and an image sensor comprising a pixel array for sensingreflected electromagnetic radiation, wherein the pixel array comprises aplurality of pixels each configurable as a short exposure pixel or along exposure pixel. The system includes a controller comprising aprocessor in electrical communication with the image sensor and theemitter. The system is such that at least a portion of the pulses ofelectromagnetic radiation emitted by the emitter compriseselectromagnetic radiation having a wavelength from about 770 nm to about790 nm.

Example 2 is a system as in Example 1, wherein the pixel array comprisesa plurality of short exposure pixels and a plurality of long exposurepixels arranged in a checkerboard pattern such that a short exposurepixel is located adjacent to a long exposure pixel.

Example 3 is a system as in any of Examples 1-2, wherein: each of theplurality of pixels of the pixel array comprises a transfer gatetransistor; each transfer gate transistor is in electrical communicationwith a TX signal; and the TX signal provides a global operation for thetransfer gate transistors of the plurality of pixels of the pixel array.

Example 4 is a system as in any of Examples 1-3, wherein: the TX signalcomprises a TX1 signal and a TX2 signal; at least two pixels of theplurality of pixels of the pixel array share a floating diffusion in ahorizontal direction in a two-way pixel share; the TX1 signalcommunicates with transfer gate transistors of pixels located on a firstside of the two-way pixel share on odd rows and with transfer gatetransistors of pixels located on a second side of the two-way pixelshare on even rows; and the TX2 signal communicates with transfer gatetransistors of pixels located on the second side of the two-way pixelshare on odd rows and with transfer gate transistors of pixels locatedon the first side of the two-way pixel share on even rows.

Example 5 is a system as in any of Examples 1-4, wherein the imagesensor performs horizontal binning during a charge period of the pixelarray.

Example 6 is a system as in any of Examples 1-5, wherein a pixelgrouping of the pixel array shares a floating diffusion, wherein thepixel grouping comprises two pixels or four pixels.

Example 7 is a system as in any of Examples 1-6, wherein the pixel arrayis disposed on a first substrate of the image sensor and supportingcircuitry for the pixel array is disposed remotely on a second substrateof the image sensor.

Example 8 is a system as in any of Examples 1-7, wherein the imagesensor is configured to generate a plurality of exposure frames, whereineach of the plurality of exposure frames corresponds to a pulse ofelectromagnetic radiation emitted by the emitter.

Example 9 is a system as in any of Examples 1-8, wherein the pixel arrayof the image sensor senses reflected electromagnetic radiation togenerate the plurality of exposure frames during a readout period of thepixel array, wherein the readout period is a duration of time whenactive pixels in the pixel array are read.

Example 10 is a system as in any of Examples 1-9, wherein theelectromagnetic radiation having a wavelength from about 770 nm to about790 nm is an excitation wavelength that causes one or more reagents tofluoresce at a wavelength that is different from the excitationwavelength.

Example 11 is a system as in any of Examples 1-10, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter comprises a green wavelength of electromagnetic radiation, a redwavelength of electromagnetic radiation, and a blue wavelength ofelectromagnetic radiation.

Example 12 is a system as in any of Examples 1-11, wherein the emitteris configured to emit, during a pulse duration, a plurality ofsub-pulses of electromagnetic radiation having a sub-duration shorterthan the pulse duration.

Example 13 is a system as in any of Examples 1-12, wherein one or moreof the pulses of electromagnetic radiation emitted by the emittercomprise electromagnetic radiation emitted at two or more wavelengthssimultaneously as a single pulse or a single sub-pulse.

Example 14 is a system as in any of Examples 1-13, wherein at least onepulse of the pulses of electromagnetic radiation emitted by the emitterresults in an exposure frame created by the image sensor, wherein thesystem further comprises a display for displaying two or more exposureframes as an image frame.

Example 15 is a system as in any of Examples 1-14, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter is an excitation wavelength for fluorescing a reagent, andwherein pulsing the excitation wavelength results in the image sensorgenerating a fluorescence exposure frame indicating a location of thereagent within a scene.

Example 16 is a system as in any of Examples 1-15, wherein thecontroller is configured to provide the fluorescence exposure frame to acorresponding system that determines a location of a critical tissuestructure based on the fluorescence exposure frame.

Example 17 is a system as in any of Examples 1-16, wherein thecontroller is configured to: receive the location of the critical tissuestructure from the corresponding system; generate an overlay framecomprising the location of the critical tissue structure; and combinethe overlay frame with a color image frame depicting the scene toindicate the location of the critical tissue structure within the scene.

Example 18 is a system as in any of Examples 1-17, wherein thecontroller is configured to synchronize timing of the pulses ofelectromagnetic radiation during a blanking period of the image sensor,wherein the blanking period corresponds to a time between a readout of alast row of active pixels in the pixel array and a beginning of a nextsubsequent readout of active pixels in the pixel array.

Example 19 is a system as in any of Examples 1-18, wherein thecontroller is configured to adjust a sequence of the pulses ofelectromagnetic radiation emitted by the emitter based on a threshold,wherein the threshold determines proper illumination of a scene in alight deficient environment.

Example 20 is a system as in any of Examples 1-19, wherein two or morepulses of electromagnetic radiation emitted by the emitter result in twoor more instances of reflected electromagnetic radiation that are sensedby the pixel array to generate two or more exposure frames that arecombined to form an image frame.

Example 21 is a system as in any of Examples 1-20, wherein at least aportion of the pulses of electromagnetic radiation emitted by theemitter is an excitation wavelength for fluorescing a reagent, andwherein at least a portion of the reflected electromagnetic radiationsensed by the image sensor is a relaxation wavelength of the reagent.

Example 22 is a system as in any of Examples 1-21, wherein the imagesensor is configured to sense the relaxation wavelength of the reagentto generate a fluorescence exposure frame, and wherein the controller isconfigured to provide the fluorescence exposure frame to a correspondingsystem that identifies one or more critical structures in a body basedon the fluorescence exposure frame.

Example 23 is a system as in any of Examples 1-22, wherein the one ormore critical structures in the body comprise one or more of a nerve, aureter, a blood vessel, an artery, a blood flow, cancerous tissue, or atumor.

Example 24 is a system as in any of Examples 1-23, further comprising afirst filter that filters electromagnetic radiation having a wavelengthfrom about 770 nm to about 790 nm.

Example 25 is a system as in any of Examples 1-24, further comprising asecond filter that filters electromagnetic radiation having a wavelengthfrom about 795 nm to about 815 nm.

Example 26 is a system as in any of Examples 1-25, further comprising afirst filter that filters electromagnetic radiation having a wavelengthfrom about 770 nm to about 790 nm and a second filter that filterselectromagnetic radiation having a wavelength from about 795 nm to about815 nm.

Example 27 is a system as in any of Examples 1-26, further comprisingone or more filters that allow electromagnetic radiation having awavelength from about 790 nm to about 800 nm and above 815 nm to passthrough the one or more filters to the image sensor.

Example 28 is a system as in any of Examples 1-27, further comprising apolarization filter located in a path of the pulses of electromagneticradiation emitted by the emitter.

Example 29 is a system as in any of Examples 1-28, wherein the imagesensor comprises a first image sensor and a second image sensor suchthat the image sensor can generate a three-dimensional image.

Example 30 is a system as in any of Examples 1-29, wherein the emitteris configured to emit a sequence of pulses of electromagnetic radiationrepeatedly sufficient for generating a video stream comprising aplurality of image frames, wherein each image frame in the video streamcomprises data from a plurality of exposure frames wherein each of theexposure frames corresponds to a pulse of electromagnetic radiation.

It will be appreciated that various features disclosed herein providesignificant advantages and advancements in the art. The following claimsare exemplary of some of those features.

In the foregoing Detailed Description of the Disclosure, variousfeatures of the disclosure are grouped together in a single embodimentfor the purpose of streamlining the disclosure. This method ofdisclosure is not to be interpreted as reflecting an intention that theclaimed disclosure requires more features than are expressly recited ineach claim. Rather, inventive aspects lie in less than all features of asingle foregoing disclosed embodiment.

It is to be understood that any features of the above-describedarrangements, examples, and embodiments may be combined in a singleembodiment comprising a combination of features taken from any of thedisclosed arrangements, examples, and embodiments.

It is to be understood that the above-described arrangements are onlyillustrative of the application of the principles of the disclosure.Numerous modifications and alternative arrangements may be devised bythose skilled in the art without departing from the spirit and scope ofthe disclosure and the appended claims are intended to cover suchmodifications and arrangements.

Thus, while the disclosure has been shown in the drawings and describedabove with particularity and detail, it will be apparent to those ofordinary skill in the art that numerous modifications, including, butnot limited to, variations in size, materials, shape, form, function andmanner of operation, assembly and use may be made without departing fromthe principles and concepts set forth herein.

The foregoing description has been presented for the purposes ofillustration and description. It is not intended to be exhaustive or tolimit the disclosure to the precise form disclosed. Many modificationsand variations are possible in light of the above teaching. Further, itshould be noted that any or all the aforementioned alternateimplementations may be used in any combination desired to formadditional hybrid implementations of the disclosure.

Further, although specific implementations of the disclosure have beendescribed and illustrated, the disclosure is not to be limited to thespecific forms or arrangements of parts so described and illustrated.The scope of the disclosure is to be defined by the claims appendedhereto, any future claims submitted here and in different applications,and their equivalents.

What is claimed is:
 1. A system comprising: an emitter for emitting aplurality of pulses of electromagnetic radiation; an image sensorcomprising a pixel array for sensing reflected electromagneticradiation, wherein the pixel array comprises a plurality of pixelsconfigurable as a short exposure pixel or a long exposure pixel; and acontroller comprising a processor in electrical communication with theimage sensor and the emitter; wherein the plurality of pulses ofelectromagnetic radiation emitted by the emitter comprises a pulsecomprising a visible wavelength of electromagnetic radiation and a pulsecomprising a fluorescence excitation wavelength of electromagneticradiation, wherein the fluorescence excitation wavelength compriseselectromagnetic radiation within a range from about 770 nm to about 795nm; wherein the controller instructs the emitter to pulse the visiblewavelength of electromagnetic radiation and the fluorescence excitationwavelength of electromagnetic radiation; wherein the controllersynchronizes readout of the pixel array of the image sensor and one ormore of the plurality of pulses of electromagnetic radiation emitted bythe emitter; wherein the pixel array senses the reflectedelectromagnetic radiation and reads out data for generating a colorframe in response to the emitter pulsing the visible wavelength ofelectromagnetic radiation and a fluorescence frame in response to theemitter pulsing the fluorescence excitation wavelength ofelectromagnetic radiation; wherein the fluorescence frame comprisespixel data indicating where the pixel array sensed a fluorescencerelaxation wavelength; and wherein the controller provides thefluorescence frame to a corresponding system that is configured toidentify a tissue structure within a scene based on the pixel data forthe fluorescence frame, wherein the corresponding system determineswhether the pixel data meets a threshold.
 2. The system of claim 1,wherein the pixel array comprises a plurality of short exposure pixelsand a plurality of long exposure pixels arranged in a checkerboardpattern such that a short exposure pixel is located adjacent to a longexposure pixel.
 3. The system of claim 1, wherein: each of the pluralityof pixels of the pixel array comprises a transfer gate transistor; eachtransfer gate transistor is in electrical communication with a TXsignal; and the TX signal provides a global operation for the transfergate transistors of the plurality of pixels of the pixel array.
 4. Thesystem of claim 3, wherein: the TX signal comprises a TX1 signal and aTX2 signal; at least two pixels of the plurality of pixels of the pixelarray share a floating diffusion in a horizontal direction in a two-waypixel share; the TX1 signal communicates with transfer gate transistorsof pixels located on a first side of the two-way pixel share on odd rowsand with transfer gate transistors of pixels located on a second side ofthe two-way pixel share on even rows; and the TX2 signal communicateswith transfer gate transistors of pixels located on the second side ofthe two-way pixel share on odd rows and with transfer gate transistorsof pixels located on the first side of the two-way pixel share on evenrows.
 5. The system of claim 1, wherein the image sensor performshorizontal binning during a charge period of the pixel array.
 6. Thesystem of claim 1, wherein a pixel grouping of the pixel array shares afloating diffusion, and wherein the pixel grouping comprises two pixelsor four pixels.
 7. The system of claim 1, wherein the pixel array isdisposed on a first substrate of the image sensor and supportingcircuitry for the pixel array is disposed remotely on a second substrateof the image sensor.
 8. The system of claim 1, wherein the image sensoris configured to generate a plurality of exposure frames, wherein eachof the plurality of exposure frames corresponds to a pulse ofelectromagnetic radiation emitted by the emitter.
 9. The system of claim8, wherein the pixel array of the image sensor senses reflectedelectromagnetic radiation to generate the plurality of exposure framesduring a readout period of the pixel array, wherein the readout periodis a duration of time when active pixels in the pixel array are read.10. The system of claim 1, wherein the fluorescence excitationwavelength of electromagnetic radiation causes a reagent within thescene to fluoresce, and wherein the corresponding system for identifyingthe tissue structure is configured to identify the reagent within thescene based on the fluorescence frame.
 11. The system of claim 1,wherein the visible wavelength of electromagnetic radiation emitted bythe emitter comprises one or more of a white emission of electromagneticradiation, a green wavelength of electromagnetic radiation, a redwavelength of electromagnetic radiation, or a blue wavelength ofelectromagnetic radiation.
 12. The system of claim 1, wherein theemitter is configured to emit, during a pulse duration, a plurality ofsub-pulses of electromagnetic radiation having a sub-duration shorterthan the pulse duration.
 13. The system of claim 1, wherein one or moreof the plurality of pulses of electromagnetic radiation emitted by theemitter comprises electromagnetic radiation emitted at two or morewavelengths simultaneously as a single pulse or a single sub-pulse. 14.The system of claim 1, wherein at least one pulse of the plurality ofpulses of electromagnetic radiation emitted by the emitter results in anexposure frame sensed by the image sensor, and wherein the systemfurther comprises a display for displaying two or more exposure framesas an image frame.
 15. The system of claim 1, wherein the fluorescencerelaxation wavelength is released by a fluorescent reagent, and whereinthe fluorescence excitation wavelength of electromagnetic radiation isselected for fluorescing the fluorescent reagent.
 16. The system ofclaim 15, wherein the fluorescent reagent is configured to attach to thetissue structure within the scene.
 17. The system of claim 16, whereinthe controller is configured to: receive the location of the tissuestructure from the corresponding system; generate an overlay framecomprising the location of the tissue structure; and combine the overlayframe with a color image frame depicting the scene to indicate thelocation of the tissue structure within the scene.
 18. The system ofclaim 1, wherein the controller is configured to synchronize timing ofthe plurality of pulses of electromagnetic radiation during a blankingperiod of the image sensor, and wherein the blanking period correspondsto a time between a readout of a last row of active pixels in the pixelarray and a beginning of a next subsequent readout of active pixels inthe pixel array.
 19. The system of claim 1, wherein the controller isconfigured to adjust a sequence of the plurality of pulses ofelectromagnetic radiation emitted by the emitter based on a threshold,wherein the threshold determines proper illumination of the scene, andwherein the emitter is an exclusive source of illumination within thescene.
 20. The system of claim 1, wherein two or more pulses ofelectromagnetic radiation emitted by the emitter result in two or moreinstances of reflected electromagnetic radiation that are sensed by thepixel array to generate two or more exposure frames that are combined toform an image frame.
 21. The system of claim 1, wherein at least aportion of the reflected electromagnetic radiation sensed by the imagesensor is the fluorescence relaxation wavelength, and wherein thefluorescence excitation wavelength of electromagnetic radiation isfiltered such that the image sensor does not sense the fluorescenceexcitation wavelength of electromagnetic radiation.
 22. The system ofclaim 1, wherein the pixel array separately senses the fluorescencerelaxation wavelength for generating the fluorescence frame and sensesreflected visible electromagnetic radiation for generating the colorframe.
 23. The system of claim 1, wherein the tissue structure comprisesone or more of a nerve, a ureter, a blood vessel, an artery, a bloodflow, cancerous tissue, or a tumor.
 24. The system of claim 1, furthercomprising a filter that filters electromagnetic radiation having awavelength from about 770 nm to about 795 nm.
 25. The system of claim 1,further comprising a polarization filter located in a path of theplurality of pulses of electromagnetic radiation emitted by the emitter.26. The system of claim 1, wherein the image sensor comprises a firstimage sensor and a second image sensor, wherein data received from thefirst image sensor and the second image sensor can be used to generate athree-dimensional image.
 27. The system of claim 1, wherein the emitteris configured to emit a sequence of pulses of electromagnetic radiationrepeatedly sufficient for generating a video stream comprising aplurality of image frames, wherein each image frame in the video streamcomprises data from a plurality of exposure frames, and wherein each ofthe plurality of exposure frames corresponds to a pulse ofelectromagnetic radiation.